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The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
Maintainer status: maintained
Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
Maintainer status: maintained
Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
Maintainer status: unmaintained
Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
Maintainer status: unmaintained
Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
The pr2_gripper_sensor_controller package is a real-time controller that integrates signals from the PR2 hand-mounted accelerometer and finger-mounted pressure sensors with motor control of the gripper joint to do highly responsive sensing and low-latency closed-loop control.
Maintainer status: unmaintained
Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
Act as a fully compatible replacement for the simpler pr2_gripper_action interface.
Provide new functionality to allow more complex gripper actions in real-time that are able to delicately and sensitively control the gripper position and force, as well as provide a wealth of sensory feedback.
Pressure-sensitive fingertips, which are an optional hardware add-on for all modern PR2 that require a brief installation procedure [installation link?].
A simple test to check if these sensors exist is to run the command rostopic list and check to make sure the /accelerometer and /pressure fields are present.
Running the Controller
Compiling
If you are not using a prebuilt installation you may have to compile the pr2_gripper_sensor_controller package. Since the pr2_gripper_sensor_controller package is a real-time controller, it is important to remember to compile the package before launching your robot, otherwise it will fail to register and load correctly with pluginlib. Compiling can be done simply by typing:
rosmake pr2_gripper_sensor_controller
Or by building any of the higher-level packages (such as pr2_gripper_sensor_action which depend on this package) before launching your robot.