Hi there
I am implementing a system using ros2_robotiq_gripper.
For my system knowing the current gripper position at all times is important, so I am doing something like this:
def _send_command(...):
goal_msg = GripperCommand.Goal()
goal_msg.command.position = gripper_target_position
self._goal_future = self._action_client.send_goal_async(
goal_msg, feedback_callback=**self._gripper_state_callback**
)
def _gripper_state_callback(self, msg):
logging.info('Received gripper state callback: %s', msg.position)
This is however never called it seems.
Investigating on the terminal
$ ros2 topic list --include-hidden-topic
/dynamic_joint_states
/joint_state_broadcaster/transition_event
/joint_states
/parameter_events
/robot_description
/robotiq_activation_controller/transition_event
/robotiq_gripper_controller/gripper_cmd/_action/feedback
/robotiq_gripper_controller/gripper_cmd/_action/status
/robotiq_gripper_controller/transition_event
/rosout
/tf
/tf_static`
topic echo /robotiq_gripper_controller/gripper_cmd/_action/feedback
(nothing happens here when running the node)
Hi there
I am implementing a system using ros2_robotiq_gripper.
For my system knowing the current gripper position at all times is important, so I am doing something like this:
This is however never called it seems.
Investigating on the terminal
(nothing happens here when running the node)