test scene for pick and place

rasmt_support/config/rasmt_ros2_controllers.yaml

@@ -6,7 +6,7 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     rasmt_hand_controller:
-      type: effort_controllers/JointGroupEffortController
+      type: forward_command_controller/ForwardCommandController
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
@@ -32,9 +32,4 @@ rasmt_hand_controller:
     joints: 
       - rasmt_Slide_1
       - rasmt_Slide_2
-    command_interfaces:
-      - effort
-    state_interfaces:
-      - position
-      - velocity
-      - effort
+    interface_name: position

rasmt_support/launch/rasmt_control.launch.py

@@ -67,6 +67,10 @@ def generate_launch_description():
         executable="spawner.py",
         arguments=["rasmt_hand_controller", "--controller-manager", "/controller_manager"],
     )
+    action_server_controller_hand_node = Node(
+        package="robossembler_servers",
+        executable="gripper_cmd_node"
+    )
 
     return LaunchDescription(
         launch_args + [
@@ -74,5 +78,6 @@ def generate_launch_description():
             robot_state_publisher,
             joint_state_broadcaster,
             controller_arm,
-            controller_hand
+            controller_hand,
+            action_server_controller_hand_node
     ])

rasmt_support/urdf/tools/rasmt_hand_control.xacro

@@ -17,9 +17,9 @@
             </xacro:unless>
 
             <joint name="${prefix}_Slide_1">
-                <command_interface name="effort">
+                <command_interface name="position">
                     <!-- better to use radians as min max first -->
-                    <param name="min">-10</param>
+                    <param name="min">0</param>
                     <param name="max">10</param>
                 </command_interface>
                 <state_interface name="position"/>
@@ -30,8 +30,8 @@
             <joint name="${prefix}_Slide_2">
                 <!-- <param name="mimic">${prefix}_Slide_1</param>
                 <param name="multiplier">1</param> -->
-                <command_interface name="effort">
-                    <param name="min">-10</param>
+                <command_interface name="position">
+                    <param name="min">0</param>
                     <param name="max">10</param>
                 </command_interface>
                 <state_interface name="position"/>

rasmt_support/urdf/tools/rasmt_hand_macro.xacro

@@ -52,7 +52,7 @@
     type="fixed">
     <origin
       xyz="0 0.0 0.12324"
-      rpy="-3.14159265358979 0 -1.5707963267949" />
+      rpy="-3.14159265358979 0 0" />
     <parent
       link="${prefix}_Dock_Link" />
     <child