Class SuctionGripperPlugin
Defined in File SuctionGripper.hh
Inheritance Relationships
Base Types
public ignition::gazebo::System
public ignition::gazebo::ISystemConfigure
public ignition::gazebo::ISystemPreUpdate
Class Documentation
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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
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SuctionGripperPlugin()
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~SuctionGripperPlugin()
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void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
Public Members
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std::unique_ptr<SuctionGripperPrivate> dataPtr
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SuctionGripperPlugin()