Functions
bool	grasp (const franka::Gripper &gripper, const GraspGoalConstPtr &goal)
	Calls the libfranka grasp service of the gripper. More...

void	gripperCommandExecuteCallback (const franka::Gripper &gripper, const GraspEpsilon &grasp_epsilon, double default_speed, actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *action_server, const control_msgs::GripperCommandGoalConstPtr &goal)
	Wraps the execution of a gripper command action to catch exceptions and report results. More...

bool	homing (const franka::Gripper &gripper, const HomingGoalConstPtr &)
	Calls the libfranka homing service of the gripper. More...

bool	move (const franka::Gripper &gripper, const MoveGoalConstPtr &goal)
	Calls the libfranka move service of the gripper. More...

bool	stop (const franka::Gripper &gripper, const StopGoalConstPtr &)
	Calls the libfranka stop service of the gripper to stop applying force. More...

bool	updateGripperState (const franka::Gripper &gripper, franka::GripperState *state)
	Reads a gripper state if possible. More...

Function Documentation

bool franka_gripper::grasp	(	const franka::Gripper &	gripper,
		const GraspGoalConstPtr &	goal
	)

Calls the libfranka grasp service of the gripper.

An object is considered grasped if the distance $d$ between the gripper fingers satisfies $(\text{width} - \text{epsilon_inner}) < d < (\text{width} + \text{epsilon_outer})$ .

Parameters

[in]	gripper	A gripper instance to execute the command
[in]	goal	A grasp goal with target width, epsilon_inner, epsilon_outer, velocity and effort

Returns: True if an object has been grasped, false otherwise.

Definition at line 89 of file franka_gripper.cpp.

void franka_gripper::gripperCommandExecuteCallback	(	const franka::Gripper &	gripper,
		const GraspEpsilon &	grasp_epsilon,
		double	default_speed,
		actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *	action_server,
		const control_msgs::GripperCommandGoalConstPtr &	goal
	)

Wraps the execution of a gripper command action to catch exceptions and report results.

Note: For compatibility with current MoveIt! behavior, the given goal's command position is multiplied by a factor of 2 before being commanded to the gripper!

Parameters

[in]	gripper	A pointer to a franka gripper
[in]	default_speed	The default speed for a gripper action
[in]	grasp_epsilon	The epsilon window of the grasp.
[in]	action_server	A pointer to a gripper action server
[in]	goal	A gripper action goal

Definition at line 30 of file franka_gripper.cpp.

bool franka_gripper::homing	(	const franka::Gripper &	gripper,
		const HomingGoalConstPtr &
	)

Calls the libfranka homing service of the gripper.

Parameters

[in] gripper A gripper instance to execute the command

Returns: True if command was successful, false otherwise.

Definition at line 81 of file franka_gripper.cpp.

bool franka_gripper::move	(	const franka::Gripper &	gripper,
		const MoveGoalConstPtr &	goal
	)

Calls the libfranka move service of the gripper.

Parameters

[in]	gripper	A gripper instance to execute the command
[in]	goal	A move goal with target width and velocity

Returns: True if command was successful, false otherwise.

Definition at line 77 of file franka_gripper.cpp.

bool franka_gripper::stop	(	const franka::Gripper &	gripper,
		const StopGoalConstPtr &
	)

Calls the libfranka stop service of the gripper to stop applying force.

Parameters

[in] gripper A gripper instance to execute the command

Returns: True if command was successful, false otherwise.

Definition at line 85 of file franka_gripper.cpp.

bool franka_gripper::updateGripperState	(	const franka::Gripper &	gripper,
		franka::GripperState *	state
	)

Reads a gripper state if possible.

Parameters

[in]	state	A gripper state to update
[in]	gripper	A pointer to a franka gripper

Returns: True if update was successful, false otherwise.

Definition at line 20 of file franka_gripper.cpp.

Functions

Function Documentation