The actual gripper does not close

[ayakasakurai0213]

I am running the actual robot of HSR and trying to close its gripper.

I built the environment according to the section of Actual Robot in hsr_ros2_doc

I launch moveit by entering the following command:

ros2 launch hsrb_moveit_config hsrb_demo.launch.py

Then I try to specify hand_morter_joint and run "Plan & Execute" on Rviz.
Please watch the following video:

cannot_gripper_close.mp4

But gripper does not close.
When I specify a value of hand_morter_joint smaller than -7°, the gripper does not work.

How can I close the gripper?

[k-takeshita]

In the same way as with ROS1, please use the grasp action.

Currently, it is difficult to perform grasping using only position commands with the HSR gripper in the existing software. This means that grasping is impossible with position commands in MoveIt.

In the next software release, an option to perform grasping using position commands will be added on the ROS1 side. However, the implementation of this function in ROS2 is currently in progress.

[ayakasakurai0213]

Thanks for your comment. Where is the grasp action in ROS2?

[ayakasakurai0213]

I found apply_force() in hsr_develop_manual.
Is it the "grasp action"?

And the description in this site is just about ROS1.
Do work these commands in this site in ROS2 environment?

[ayakasakurai0213]

I tried to running apply_force in ROS2 environment.
But it does't work.

How can I do it?????

[k-takeshita]

Did you execute "ros2 action list" while the software was running?
Is the /gripper_controller/grasp action not present?

[ayakasakurai0213]

Yes, I'm doing now.
The /gripper_controller/grasp is working.

And then, what can I do next?