Hello All!
I am trying to configure an air controlled gripper that I am using with a Fanuc LRMate 200id. What I am trying to do is interface with a Python node that I have written that publishes the state (bool) of the gripper, either open or closed. I would like to use gripper_action_controller to be able to send/recieve goals/feedback/results. As in so far, I have edited the controllers.yaml file in my MoveIt! config directory. This is what my controllers.yaml file looks like:
`controller_list:
- name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
- name: "gripper_controller"
action_ns: gripper_cmd
type: GripperCommand
joint:
- gripper_joint`
Thank you!
↧