Add support for more grippers, py3 compatability and code improvements#4
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Add support for more grippers, py3 compatability and code improvements#4
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ipa-danb
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Jul 11, 2024
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Yes,
yes,
yes,
idk -> probably wrong
Von: Daniel Bargmann ***@***.***>
Gesendet: Donnerstag, 11. Juli 2024 17:38
An: ipa320/weiss_gripper_ieg76 ***@***.***>
Cc: Subscribed ***@***.***>
Betreff: Re: [ipa320/weiss_gripper_ieg76] Rewrite of ptenbrock (PR #4)
@ipa-danb commented on this pull request.
________________________________
In package.xml<#4 (comment)>:
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer ***@***.******@***.***>">Jane Doe</maintainer> -->
- <maintainer ***@***.******@***.***>">lth-vd</maintainer>
+ <maintainer ***@***.******@***.***>">ipa-pgt</maintainer>
This is probably not right anymore
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In src/weiss_gripper_ieg76/driver.py<#4 (comment)>:
@@ -17,14 +17,27 @@ def __init__(self):
self.states_publisher_thread = StatesPublisher(0.8, self.serial_port_comm)
rospy.on_shutdown(self.shutdown_handler)
+ def set_max_pos(self, gripper_info):
So do we support all those grippers? We should add this to the description and change the name in a future PR?
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In src/weiss_gripper_ieg76/serial_comm.py<#4 (comment)>:
@@ -161,6 +167,7 @@ def send_command(self, command, grasping_force = 100, opening_position = 29.50,
self.log_debug_flags()
try:
+ # print 'Out: ', payload
⬇️ Suggested change
- # print 'Out: ', payload
________________________________
In urdf/ieg55.urdf.xacro<#4 (comment)>:
@@ -23,7 +23,7 @@
</visual>
</link>
- <joint name="${prefix}jaw_position" type="prismatic">
+ <!-- <joint name="${prefix}jaw_position" type="prismatic">
why?
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i added you as maintainer @ipa-lth - OK? then lgtm and merge |
ipa-danb
changed the title
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@ipa-danb do you see any reasons why this should not be merged into master branch?