Ros Vacuum Gripper Plugin. More...
Classes | |
class | gazebo::GazeboRosVacuumGripper |
Ros Vacuum Gripper Plugin.
This is a Plugin that collects data from a ROS topic and applies wrench to a body accordingly.
Example Usage:
<link name="left_end_effector"> <gravity>0</gravity> <visual> <origin rpy="0 0 0" xyz="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> <material name="transparent"> <color rgba="0 0 0 0"/> </material> </visual> <inertial> <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/> <mass value="0.0001"/> <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/> </inertial> </link> <joint name="left_end_joint" type="revolute"> <parent link="left_wrist" /> <child link="left_end_effector" /> <origin rpy="0 0 0" xyz="0.08 0 .44" /> <limit effort="30" velocity="1.0" lower="0" upper="0" /> </joint> <gazebo> <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so"> <robotNamespace>/robot/left_vacuum_gripper</robotNamespace> <bodyName>left_end_effector</bodyName> <topicName>grasping</topicName> </plugin> </gazebo>