grippers_ros

ROS gripper interface implementations.

This module defines ROS-backed gripper wrappers used by RobotBlockSet robot interfaces. It provides action-based control and state subscriptions for Franka grippers through ROS topics and action servers.

class robotblockset.ros.grippers_ros.PandaGripper(robot: robot, namespace: str = '', **kwargs: Any)[source]

Bases: gripper

ROS interface for a Franka Panda gripper.

This class sets up ROS communication interfaces for controlling a Franka Emika Panda gripper. It configures topics, action clients, and a subscriber for joint states.

Attributes:

  • Name (str) – Identifier for the gripper instance.

  • GripperTagNames (str) – Tag used for identifying the gripper in logs or systems.

  • Robot (robot) – The robot associated with the gripper.

Initialize the Panda gripper wrapper.

Parameters:

  • robot (robot) – Robot instance to which the gripper is attached.

  • namespace (str, optional) – ROS namespace prefix used to resolve gripper topics.

  • **kwargs (Any) – Additional keyword arguments for future extensions or configuration.

__init__(robot: robot, namespace: str = '', **kwargs: Any) → None[source]

Initialize the Panda gripper wrapper.

Parameters:

  • robot (robot) – Robot instance to which the gripper is attached.

  • namespace (str, optional) – ROS namespace prefix used to resolve gripper topics.

  • **kwargs (Any) – Additional keyword arguments for future extensions or configuration.

val(msg: sensor_msgs.msg.JointState) → None[source]

Store the latest joint-state message received from the gripper.

Parameters:

msg (JointState) – Joint-state message received from ROS.

Grasp(width: float, speed: float = 0.1, eps: float = 0.005, force: int = 5) → Any[source]

Grasp an object with the gripper.

Parameters:

  • width (float) – Target grasp width.

  • speed (float, optional) – Closing speed.

  • eps (float, optional) – Inner and outer grasp tolerance.

  • force (int, optional) – Grasp force.

Returns:

Result object returned by the ROS grasp action.

Return type:

Any

Move(width: float, speed: float = 0.1) → Any[source]

Move the gripper to a specified width.

Parameters:

  • width (float) – The width to which the gripper should move.

  • speed (float, optional) – Desired gripper speed.

Returns:

Result object returned by the ROS move action.

Return type:

Any

Homing() → bool[source]

Home the gripper and reopen it.

Returns:

Result of the final Open() call.

Return type:

bool

Classes

PandaGripper(robot[, namespace])

ROS interface for a Franka Panda gripper.