Open and Close Baxter's gripper

Hi, we are trying to make our baxter robot open and close its gripper, we are using the following code that we generate from mathwork tutorial, but is not working, so can you please help?

rosinit('169.254.9.127') % ip address of baxter
rostopic info /robot/end_effector/right_gripper/command
pub = rospublisher('/robot/end_effector/right_gripper/command')
msg = rosmessage('baxter_core_msgs/EndEffectorCommand')
showdetails(msg)
msg.Id=65538
msg.Command= 'grip'
msg.Sender= 'foo'
msg.Sequence= 1
send(pub,msg)% nothing happens
msg.Command= 'release'
send(pub,msg) %nothing happens again
rosshutdown

Answer 1

[Benjamin Brandwin]

I had the same problem. After some searching I managed to figure it out. The way to do this is through the script gripper_action_server.py

Use rosrun baxter_interface gripper_action_server.py

This will start an node for baxter gripper control

then in Matlab use rosaction list. You should now see 2 actions, one for the left gripper and one for the right.

then in Matlab :

[actClient,goalMsg] = rosactionclient('/robot/end_effector/right_gripper/gripper_action');

waitForServer(actClient

goalMsg = 100 % fully open

sendGoalAndWait(actClient,goalMsg,10)

goalMsg = 0 % fully closed

sendGoalAndWait(actClient,goalMsg,10)

[Benjamin Brandwin]

This also allows you to specify the max effort, which is awesome!

[snow John]

I try this:

[actClient1,goalMsg1] = rosactionclient('/robot/end_effector/right_gripper/gripper_action');

waitForServer(actClient1)

Rightgripper=rosmessage( 'control_msgs/GripperCommandGoal');

Rightgripper.Command.MaxEffort=0;

Rightgripper.Command.Position=90;

goalMsg1=Rightgripper ;% fully open

sendGoalAndWait(actClient1,goalMsg1);

and these codes can control the gripper,but i want to know how to control the gripper's velocity?

thanks for any help!