Hello, recently I’m working on a project, which will use a suction cup.
I have read through the document of surface gripper. However, I still don’t know how to controll it by Ros.
In the Create/Isaac/Ros, there is an option of surface gripper. And I’m confused about how to set it up correctly. So that I can toggle the gripper by Ros.
Please help me out, thanks.
After some attempts, I still can’t use the surface gripper in Isaac sim by ros. I found out that if I check the “/gripper_state” topic in Rviz, its error says that “Recieveing different joint name and effort”. So I believe the more specific problem might be "how to write a proper joint in urdf to apply the ROS_surface_gripper on it. "
Hi ableho01,do you solve this problem now? I have the same quest
Yes, we have successfully used the suction cup function in Isaac Sim with ROS.
However, it was an old project, so I forgot most of the details.
Here are some of the settings in Isaac Sim and the Python code for ROS.
Hope these things can help you.
def turn_suction_cup_on():
gripper_state = JointState()
gripper_state.header.seq = 0
gripper_state.header.stamp.secs = 0
gripper_state.header.stamp.nsecs = 0
gripper_state.header.frame_id = ''
gripper_state.name = ['gripper']
gripper_state.position = [1.0]
gripper_state.velocity = [0.0]
gripper_state.effort = [0.0]
rospy.loginfo(gripper_state)
pub.publish(gripper_state)
def turn_suction_cup_off():
gripper_state = JointState()
gripper_state.header.seq = 0
gripper_state.header.stamp.secs = 0
gripper_state.header.stamp.nsecs = 0
gripper_state.header.frame_id = ''
gripper_state.name = ['gripper']
gripper_state.position = [0.0]
gripper_state.velocity = [0.0]
gripper_state.effort = [0.0]
rospy.loginfo(gripper_state)
pub.publish(gripper_state)
thank you so much, it was felpful
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