[ros-users] pr2_gripper_sensor packages in gazebo

Kaijen Hsiao kaijenhsiao at gmail.com
Mon Oct 18 05:38:33 UTC 2010

Hi Jenny,
Alas, it is not currently possible to use those libraries in
simulation.  With the sim contact translator, you can get
/pressure/r_gripper_motor messages, and so it's plausible that the
force control/slip detection could be made to work.  Although ODE's
contact forces are usually not very realistic, so probably a great
deal of playing with the simulation's CFM/ERP parameters and timestep
would be required, not to mention simulation-specific parameter tuning
of the controllers themselves.  In any event, we don't currently have
the accelerometer modeled in simulation.  If you file a ticket,
accelerometer messages might magically appear one day in the
not-too-far future.

In the meantime, might I suggest using the actual robot?  Its sensor
readings are much more realistic.  :)


On Sun, Oct 17, 2010 at 9:54 PM, Jenny Barry <jlbarry at mit.edu> wrote:
> Hi,
> Is it possible to use the pr2_gripper_sensor_* libraries in the gazebo
> simulator?  Trying
> roslaunch pr2_gazebo pr2_empty_world.launch
> roslaunch pr2_gripper_sensor_action pr2_gripper_sensor_actions.launch
> gives an ssh error for the second launch.  Changing the
> pr2_gripper_sensor_actions.launch launch file to use the ROBOT
> environment variable rather than default to pr2 lets it launch, but it
> quits with the error
> PR2GripperSenosrController could not find sensor named 'r_gripper_motor'
> Checking the rostopic list, no /pressure or /accelerometer topics are
> listed.  (/pressure topics can be created using the fingertip_pressure
> package, but that does not appear to create /accelerometer topics)
> Thank you,
> Jenny
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