dynamixel-community/dynamixel_hardware

No gripper movement

ajaysonar opened this issue · 4 comments

ajaysonar commented

Hi,

I am using your code to test my Dynamixel openmanipulator arm. I am able to move the arm except for the gripper. I have checked all the settings including the ID numbers of the motor via Dynamixel Wizard. I can move the gripper motor via the Wizard tool so I can confirm that the motor is not an issue. Could you suggest what I can do to troubleshoot this issue.

Thanks,
Ajay

youtalk commented

I think you need to use transmission because the gripper value is given by the meter [m] unit but the default ros2_control value is given by the angle [rad] unit.
This PR is my try to imitate simple_transmission for the gripper. https://github.com/youtalk/dynamixel_hardware/pull/11/files Please check it.

ajaysonar commented

Thank you for your feedback. I will try you suggestion.

Ajay

ijnek commented

Hi @ajaysonar, I'm going to close this out as I believe it is resolved. If now, please comment and we can re-open.

mayank0621 commented

Hi I'm getting similar error, when I do these changes in humble branch, the values of gripper joint exceed the limit by a lot. It should be between -0.010 to 0.019. But when I make these changes, it reaches 108 meters. In the image below you can see the gripper is in the right top corner. It is very far away from where it should be.

@youtalk, @ijnek, @ajaysonar Any help would be appreciated.
MicrosoftTeams-image