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Feedback of gripper position #178

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Krause92 opened this issue Jul 24, 2020 · 0 comments · May be fixed by #179

Krause92 commented Jul 24, 2020

Hi,

I'm working with the 2f_gripper_action_server. In the Feedback message there is an apparently incorrect calculation of the gripper finger's position:

https://github.com/ros-industrial/robotiq/blob/66961ec6b6c9c493f13410d16ce32cea1648babf/robotiq_2f_gripper_action_server/src/robotiq_2f_gripper_action_server.cpp#L66

if the gripper is fully opened input.gPO is zero. If it is fully closed we got 255.
(see https://assets.robotiq.com/website-assets/support_documents/document/2F-85_2F-140_Instruction_Manual_CB-Series_PDF_20190329.pdf on page 53).

This implies
result.position = params.max_gap_ - input.gPO * dist_per_tick;
for the resulting gipper finger positon.

The text was updated successfully, but these errors were encountered:

Krause92 linked a pull request

that will close this issue

Calculation of position feedback #179

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