Merge pull request #14 from ROBOTIS-GIT/develop

Develop

Author: JaehyunShim

open_manipulator_gazebo/config/gripper_controller.yaml

@@ -1,9 +1,8 @@
 gripper_position:
   type: effort_controllers/JointPositionController
   joint: gripper
-  pid: {p: 10.0, i: 0.0, d: 0.1}
-
+  pid: {p: 100, i: 0, d: 0}
 gripper_sub_position:
   type: effort_controllers/JointPositionController
   joint: gripper_sub
-  pid: {p: 10.0, i: 0.0, d: 0.1}
+  pid: {p: 100, i: 0, d: 0}

open_manipulator_gazebo/launch/open_manipulator_controller.launch

@@ -5,8 +5,7 @@
 
   <!-- load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller
-                          joint1_position
+    output="screen" args="joint1_position
                           joint2_position
                           joint3_position
                           joint4_position

open_manipulator_gazebo/launch/open_manipulator_gazebo.launch

@@ -17,7 +17,7 @@
 
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
-     args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
+     args="-urdf -model open_manipulator -z 0.0 -J gripper_sub 0.005 -param robot_description"/>
 
   <!-- Run controller utils -->
   <include file="$(find open_manipulator_gazebo)/launch/controller_utils.launch"/>