xArm7 gripper

[FabianPG11]

Currently I am working with the xArm7 robot and I'm trying to control the gripper through moveit/Rviz but I can not manage to load the gripper controller. I can plan and execute a new pose for the manipulator but not for the gripper.

Following the xarm6_gripper_moveit_config package, the controllers.yaml and ros_controllers.yaml files just contain definition for the links 1 to 6, but there is no control for the drive_joint. It is just defined on the hardware_interface.

my control.yaml looks like:

controller_list:
#  - name: xarm7_controller
  - name: ""
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - joint7
  - name: end_effector_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      drive_joint

[ INFO] [1571396632.556916925]: Returned 1 controllers in list

Can it be related to the fact that the - name: "" in the yaml file must be empty?, because if I put any value the robot it can not find any controller.

To sum up, how can I move the gripper using moveit! and Rviz and get it connected to the real robot?

[penglongxiang]

Dear @FabianPG11 , sorry the xArm Gripper support for direct Moveit control is not ready yet. Currently, you can use the provided ROS services stated in readme section "5.7.7 Gripper Control" to control the Gripper.

[pfaraone]

@penglongxiang When do you anticipate it will be ready?

[mmatsi]

@penglongxiang Almost 1 year passed, are there any updates?

[penglongxiang]

please refer to: https://github.com/xArm-Developer/xarm_ros/issues/35#issuecomment-677520003