Class SuctionGripperPlugin

Inheritance Relationships

Base Types

  • public ignition::gazebo::System

  • public ignition::gazebo::ISystemConfigure

  • public ignition::gazebo::ISystemPreUpdate

Class Documentation

class SuctionGripperPlugin : public ignition::gazebo::System, public ignition::gazebo::ISystemConfigure, public ignition::gazebo::ISystemPreUpdate

This plugin implements a suction gripper. When the gripper makes contact with an item it picks up the item. One can command the release of the item through a configurable topic. The plugin requires a contact sensor to detect when an item is in contact.

Parameters

<parent_link> The link to which this gripper should be attached. [string] <contact_sensor_topic> The topic to listen to for contact sensor inputs. [string] <command_topic> The topic to listen to for commands. [string]

Subscribers

<contact_sensor_topic> used to detect when an item is in contact. [gz::msgs::Contacts] <command_topic> - used to command the release of an item. Sending a False to this topic will cause the suction to stop. If there is an object then it will be released, otherwise new objects will not be picked up. Sending a true signal again will cause the suction to start again. By default suction is on. [igntion::msgs::Boolean]

Public Functions

SuctionGripperPlugin()
~SuctionGripperPlugin()
void Configure(const ignition::gazebo::Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, ignition::gazebo::EntityComponentManager &_ecm, ignition::gazebo::EventManager &_eventMgr) override
void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override

Public Members

std::unique_ptr<SuctionGripperPrivate> dataPtr