[ros-users] pr2_object_manipulation 0.2.4 released: new PR2 gripper controllers using tactile feedback

[Joe Romano]

 Hello all,

pr2_object_manipulation 0.2.4 has been released, integrating new
gripper controllers based on tactile feedback (e.g. fingertip pressure
sensors,
wrist accelerometer, etc). Tactile feedback often provides critical
information for completing sensitive manipulation tasks. The new
functionality provides several capabilities in the form of action
servers including:

   * Position Control for changing the gripper aperture to a certain size.
   * Force Control for grasping things with a specified force value
within the gripper.
   * Contact Finding for closing the gripper until contact has been
made with a user-defined combination of finger contacts, and then
stopping abruptly.
   * Slip Control for holding an object with force control and
observing the tactile sensors for any sign of object slippage. The
controller automatically increases the grip force upon any sign of
slip.
   * Event Detection for detecting a variety of events that may
happen at the gripper including: Impacts with the hand/arm, contact
with the sides of the fingers, slip across the gripper fingerpads.

Additional information can be found on the ROS wiki:

http://www.ros.org/wiki/pr2_gripper_sensor_action

This new release deprecates the old interfaces in the following packages:
 * slipgrip_controller
 * pr2_gripper_fingersensor_action

If you are using any of these packages, please convert to using
pr2_gripper_sensor_action and its API instead.

Please report bugs or request features using the links to trac on the
stack page:

http://www.ros.org/wiki/pr2_object_manipulation

Best,
Joe Romano (U. Penn.)
The Willow Garage Manipulation Team (Willow Garage)
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