8000 Franka hand force fedback · Issue #187 · frankaemika/libfranka · GitHub
[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to content

Franka hand force fedback #187

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
gaspersavle opened this issue May 6, 2025 · 0 comments
Open

Franka hand force fedback #187

gaspersavle opened this issue May 6, 2025 · 0 comments

Comments

@gaspersavle
Copy link
gaspersavle commented May 6, 2025 •
edited
Loading

Hi, i'm using the Franka hand on the Franka Emika Panda robot, running franka_ros on ros noetic. I control the gripper using the franka_gripper/GraspGoal message. But i've noticed that franka_gripper/joint_states effort field is always 0. I've dug into the franka_gripper_node.cpp code and i noticed that the effort is hardcoded to 0.

  ros::Publisher gripper_state_publisher =
      node_handle.advertise<sensor_msgs::JointState>("joint_states", 1);
  ros::AsyncSpinner spinner(2);
  spinner.start();
  ros::Rate rate(publish_rate);
  while (ros::ok()) {
    if (gripper_state_mutex.try_lock()) {
      sensor_msgs::JointState joint_states;
      joint_states.header.stamp = ros::Time::now();
      joint_states.name.push_back(joint_names[0]);
      joint_states.name.push_back(joint_names[1]);
      joint_states.position.push_back(gripper_state.width * 0.5);
      joint_states.position.push_back(gripper_state.width * 0.5);
      joint_states.velocity.push_back(0.0);
      joint_states.velocity.push_back(0.0);
      joint_states.effort.push_back(0.0); //these lines
      joint_states.effort.push_back(0.0); //these lines
      gripper_state_publisher.publish(joint_states);
      gripper_state_mutex.unlock();
    }
    rate.sleep();
  }

https://github.com/frankaemika/franka_ros/blob/c11f000c2737acc22ed8dfeff40555b2644a4294/franka_gripper/src/franka_gripper_node.cpp#L174-L195

Upon further inspection of LibFranka's GripperState struct i've noticed it doesn't even have an effort attribute. Is there any way to get live effort feedback from the gripper?
@gaspersavle gaspersavle changed the title Franka hand force eedback Franka hand force fedback May 6, 2025
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@gaspersavle
0