The gripper controller provides an interface for sending position setpoints limited by a maximum effort. You may want to connect a pr2_gripper_action to make the gripper easier to command.
Parametersjoint (string, default: Required)
- The joint to control
- The position gain for the controller
- The integral gain on position
- The clamp on the integral gain
- The velocity gain of the controller
Subscribed Topicscommand (pr2_controllers_msgs/Pr2GripperCommand)
- Accepts set point commands
Published Topicsstate (pr2_controllers_msgs/JointControllerState)
- Reports the current state of the controller.
r_gripper_controller: type: Pr2GripperController joint: r_gripper_joint pid: p: 1000.0