I am using svn version 6689 of player and gazebo. I tried using actarray as Biggs suggested. So I modified the gripper model to include actarray controller as follows
<controller:bandit_actarray name="bandit_actarray_controller"
updateRate="5000">
<joint name="lift_hinge_joint">
<force>2</force>
<gain>2</gain>
</joint>
<interface:actarray name="actarray_iface"/>
</controller:bandit_actarray>
When I try to run pioneer2dx_gripper.world in gazebo it crashes with a
segmentation fault.
$gazebo pioneer2dx_gripper.world
Gazebo multi-robot simulator, version 0.8-pre2
Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.
[server/GazeboConfig.cc:68]
Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:76]
Ogre Path[/usr/local/lib/OGRE]
[server/Simulator.cc:151]
Creating GUI:
Type[fltk] Pos[0 0] Size[640 480]
creating /tmp/gazebo-sood-0
creating /tmp/gazebo-sood-0/simulation.default 112 704
[server/sensors/Sensor.cc:94]
cam1_sensor sensor has no controller.
creating /tmp/gazebo-sood-0/position.position_iface_0 112 224
creating /tmp/gazebo-sood-0/gripper.gripper_iface_0 112 112
creating /tmp/gazebo-sood-0/actarray.actarray_iface 112 980
creating /tmp/gazebo-sood-0/laser.laser_iface_0 112 12440
creating /tmp/gazebo-sood-0/fiducial.fiducial_iface_0 112 20928
Segmentation fault (core dumped)
Thanks in advance
Sanchit
PS: New gripper model attached
On Fri, Jun 27, 2008 at 2:49 PM, Geoffrey Biggs <[EMAIL PROTECTED]> wrote:
> The way the Pioneer gripper is handled is different now. The new gripper
> interface is designed solely for controlling a gripper, rather than
> being a direct implementation of the Pioneer gripper's control codes as
> messages as it was before. This means the gripper interface can't be
> used to raise or lower a gripper attached to a list. There are two
> alternative interfaces that can be used to provide this functionality:
> the position1d interface and the actarray interface.
>
> The Pioneer driver uses the actarray interface. Other drivers may use
> positio1d if it better suits their needs. If you look in the Pioneer
> driver's documentation you will find details on how to use the gripper
> lift.
>
> However, if, as your attachment suggests, you're using Stage, you may be
> out of luck. I don't think they're implemented an actarray to control
> the gripper lift yet.
>
> Geoff
>
> Sanchit Sood wrote:
> >
> > Hello
> > I am trying to use a pioneer gripper to lift objects. I am able to hold
> > the objects using the gripper, but can't find a way to lift the gripper.
> > I tried adding another gripper with the first gripper as one of its
> > forks. But then this fork does not move while the other one does. Is
> > there any other way to lift the gripper?
> >
> > Sanchit
> >
> > PS: Please find my gripper model and world file attached
>
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actgrip.model
Description: Binary data
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