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I'm building a Gazebo simulation of a robotic arm (Panda) mounted on a differential drive platform. MoveIt2 is working well with the arm, thanks to the Setup Assistant, but I’m facing an issue with the gripper:

  • Since I'm using ODE in Gazebo, I can't define a mimic joint between the two gripper fingers.

  • The GripperActionController only accepts a single joint, so I can't add an extra joint to synchronize both fingers.

  • I can't switch to Bullet physics because it prevents my differential drive platform from rotating, even with torsional friction set to 0 (as suggested here).

Is there another type of controller that could handle this? Or is there a workaround to achieve proper gripper synchronization in this setup?

Thanks in advance!

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Can't you use mimic with ODE, how we integrated it in gz_ros2_control? It just sends the same position as command to the mimicking joint, and exposes one command interface to the controller. You'll get a warning from the physics engine that it is not directly supported, but afaik it works with gz_ros2_control. (you haven't mentioned your distro or gazebo version)

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  • $\begingroup$ You are right, thank you! I forgot to add the state interface for the mimicking joint which caused it to just flop around and I just focused on the physics engine warning! (For anyone stumbling on this later, i am using ros2 jazzy with gazebo harmonic) $\endgroup$ Commented Feb 20 at 13:11

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