Adaptive Gripper Controller¶

夹爪 controller (adaptive_gripper_controller) and related teleop command nodes.

Repository: fiveages-sim/arms_ros2_control

adaptive_gripper_controller¶

Listed in the arms_ros2_control README. The launch stack does not take gripper:=. Attach an end-effector with type / left_type / right_type (and optional robot_profile / use_profile_eef) from robot_common_launch.

Pin: 9a1da3ba. How to refresh the pin (and recompute :start-line: / :end-line:): Documentation Build.

Three command channels¶

Each channel takes effect immediately. Joint limits and open/close positions come from /robot_description (closer URDF limit to the initial position = closed). Example names: controller left_gripper_controller, joint left_gripper_joint.

Topic	Type	Force feedback	Typical use
`/left_gripper_joint/position_command`	`std_msgs/Float64`	Off	Direct stroke (rad or m), clamped to URDF limits
`/left_gripper_controller/target_command`	`std_msgs/Int32`	On when closing (`0`)	`0` fully closed; `1` fully open (no feedback)
`/left_gripper_controller/target_percent`	`std_msgs/Float64` (`0.0`–`1.0`)	Auto: on while closing, off while opening	Linear blend closed↔open

The README topic summary (Chinese source, same commit):

以下假设控制器名称为 left_gripper_controller，关节名称为 left_gripper_joint：

话题	消息类型	方向	说明
`/left_gripper_joint/position_command`	`Float64`	订阅	直接位置控制（无力反馈）
`/left_gripper_controller/target_command`	`Int32`	订阅	开关控制（0=关/力反馈，1=开）
`/left_gripper_controller/target_percent`	`Float64`	订阅	比例控制（0.0~1.0，自动力反馈）
`/robot_description`	`String`	订阅	自动解析限位和初始值

Force feedback¶

Applies only when all of these hold (README):

The command used the switch or percent channel (not direct position_command)
use_effort_interface: true and the hardware effort interface is bound
Motion is in the closing direction
Feedback has not already fired for this command (a new command resets the flag)

Trigger: |current_effort| > force_threshold. New target = current + (original − current) × force_feedback_ratio. 0.0 stops here; 1.0 continues to the original target; default 0.5.

YAML keys in the README: joint, use_effort_interface (default true), force_threshold (default 0.1), force_feedback_ratio (default 0.5). Startup vs runtime: Controller ROS 2 parameters.

Python: left_gripper_handler.send_joint_positions (direct stroke, no feedback), send_target_command (0/1), send_position_percent (0–1). Same target_command / target_percent names on a 灵巧手 go to Basic Joint Controller Home-config blend, not this force path. Map: ros2_robot_interface.

Teleop command nodes¶

The command package in the same repo is command/ (arms_target_manager, arms_teleop, …). There is no arms_teleop_controller / target_manager_controller. Demo launch starts arms_target_manager when enable_arms_target_manager is true.

arms_target_manager owns /left_target / /stamped / /twist / /relative (and right / dual / WBC body-head). Tables: FSM and Topics. README: arms_target_manager. WBC body/head Cartesian topics need ocs2_wbc_controller and 全身 launch/config — not default mock / 分体.

Adaptive Gripper Controller¶