Open and Close Baxter's gripper
조회 수: 5 (최근 30일)
이전 댓글 표시
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
댓글 수: 0
채택된 답변
Benjamin Brandwin
2017년 4월 25일
편집: Benjamin Brandwin
2017년 4월 25일
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)
댓글 수: 2
snow John
2018년 11월 26일
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!
추가 답변 (0개)
참고 항목
카테고리
Help Center 및 File Exchange에서 Network Connection and Exploration에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!