From daa8e7ab9ac102a671c4cdd74f52004960f4fe45 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 12 Apr 2020 23:25:01 +0200 Subject: [PATCH] increase gripper joint limit --- include/open_manipulator_i2c.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/open_manipulator_i2c.h b/include/open_manipulator_i2c.h index 5a9040c..da6d18e 100644 --- a/include/open_manipulator_i2c.h +++ b/include/open_manipulator_i2c.h @@ -174,7 +174,7 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW } // gripper - if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.010) { + if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.019) { ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write."); } else { value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048; -- 2.39.5