Controlling two joints simultaneously
Hello,
I am using the Kuka Youbot arm ( http://www.youbot-store.com/youbot-st... ). When running the youbot_driver, several topics are created including a topic called "arm_1/gripper_controller/position_command" which takes the message type "brics_actuator/JointPositions." However, the gripper consists of two separate joints: one for the left finger, and one for the right finger. If I try to input a command using rostopic pub, I will have to specify which finger I want to move, either "gripper_finger_joint_l" or "gripper_finger_joint_r." This is a problem because i want the gripper to open or close by moving both fingers simultaneously. How can I do this? At first, I thought that I would try to add a "mimic" tag in the URDF but apparently this is no longer supported. What other options do I have for controlling both gripper joints at the same time?
My ultimate goal is to create an action server that takes something like "control_msgs/GripperCommandAction" with the opening width specified, and it will just open or close to that width.
Thank you, -Adrian