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Read gripper force from the config file

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This commit is contained in:
Michel Breyer 2021-10-13 11:19:47 +02:00
parent 00fb19f5eb
commit e5da49d0a6
2 changed files with 3 additions and 1 deletions
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1
cfg/active_grasp.yaml
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@ -1,6 +1,7 @@
bt_sim: bt_sim:
gui: False gui: False
cam_noise: False cam_noise: False
gripper_force: 10
scene: mustard1.yaml scene: mustard1.yaml
grasp_controller: grasp_controller:

3
scripts/bt_sim_node.py
View File

@ -242,6 +242,7 @@ class GraspActionPlugin(Plugin):
super().__init__(rate) super().__init__(rate)
self.gripper = gripper self.gripper = gripper
self.dt = 1.0 / self.rate self.dt = 1.0 / self.rate
self.force = rospy.get_param("~gripper_force")
self.init_action_server() self.init_action_server()
def init_action_server(self): def init_action_server(self):
@ -253,7 +254,7 @@ class GraspActionPlugin(Plugin):
def action_goal_cb(self): def action_goal_cb(self):
self.elapsed_time = 0.0 self.elapsed_time = 0.0
goal = self.action_server.accept_new_goal() goal = self.action_server.accept_new_goal()
self.gripper.set_desired_speed(-0.1) self.gripper.set_desired_speed(-0.1, force=self.force)
def update(self): def update(self):
if self.action_server.is_active(): if self.action_server.is_active():