Hi Manuel, First of all, what robot are you using? Is it a real robot, or a simulated one? The job of the Hand posture controller is to essentially close the hand when a grasp is being executed. Our implementation for the PR2 is quite simple, it just closes the gripper as far as it will go. It pretty much always succeeds. I can not really imagine what could cause it to never send back a reply. Maybe 10 seconds is not enough time, like Ugo suggested, but I've never seen that happen. Please send me some more info on your setup and we can try to figure out what's wrong. Matei On Tue, Mar 1, 2011 at 4:52 AM, Ugo Cupcic wrote: > Hm may be the time out value is not long enough? > > I think you can modify it in > ros/object_manipulation/object_manipulator/src/tools/mechanism_interface.cpp, > line 910. > > 2011/3/1 Manuel Rodríguez >> >> Hi all, >> >> I'm trying to run the .cpp file written in this tutorial (copy-paste). The >> arm grasps the object but does not lift it. >> >> The rosrun shell shows this error: >> [ERROR] [1298982592.493542455, 61.186000000]: The pickup action has failed >> with result code -3 >> >> And the roslaunch shell: >> [ERROR] [1298982592.492881311, 61.187000000]: Hand posture controller >> timed out on goal (2) >> [ERROR] [1298982592.493188051, 61.187000000]: Grasp error; exception: >> grasp execution:mechanism:Hand posture controller timed out >> >> Anyone knows what happens? >> Sorry, I'm a ros-newbie. >> >> Thanks. >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | > need a Hand? | London N1 1LX | +44 20 7700 2487 > http://www.shadowrobot.com/hand/ @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Matei Ciocarlie Research Scientist Willow Garage Inc. 650-475-9780