Peter David Fagan

``` Ceres Solver Report: Iterations: 27, Initial cost: 2.170917e+03, Final cost: 9.228077e+01, Termination: CONVERGENCE Parameter Offsets: realsense_camera_link_joint_x: 0 realsense_camera_link_joint_y: 0 realsense_camera_link_joint_z: 0 realsense_camera_link_joint_a: 0 realsense_camera_link_joint_b: 0 realsense_camera_link_joint_c: 0 checkerboard_x: 0.85359...

> if you have a somewhat decent estimate (+/-10cm?) of the camera location As in for the initial values of the free frame or the accuracy of the value defined...

I updated my setup based on the above feedback by clamping the board with the gripper I have. This allowed me to update the set of free parameters in a...

> That should say "Adding chain3d_to_chain3d: hand_eye" and then have two more lines - but it looks like your YAML is misformatted and the restrict_camera/checkerboard are indented too many lines...

> Is it standard practice to set the origin at the top left inner corner of the checkerboard, with the X-axis aligned along the rows and the Y-axis aligned along...

@AndrejOrsula your feedback and thoughts on features you would like as part of the Gripper interface are much appreciated. Right now it is a basic action client, this works well...

Thanks @henningkayser for the quick feedback on this. > However, the same action should be supported by MoveIt's gripper controller handle which is supposed to also handle the runtime state...

Thanks @AndrejOrsula for the detailed response and valuable points. > Besides sending commands, it would be great if the same interface also enabled users to query the current state of...

> Is there a specific reason you decided to go this route? Hi @sea-bass, This was an quick but unclean solution for interfacing with available action for the `GripperCommand`, it...

> If you want to make a GripperActionClient class that helps speed up integration/standardize how users interact with the GripperActionController then I think ros2_controllers/gripper_controllers would be a better home for...