Detailed Description

This config struct specifies how to wire up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant.

This simulates the role that driver software and control cabinets would take in real life.

It creates an LCM publisher on the SCHUNK_WSG_STATUS channel and an LCM subscriber on the SCHUNK_WSG_COMMAND channel.

#include <drake/manipulation/schunk_wsg/schunk_wsg_driver.h>

Public Member Functions
template<typename Archive>
void	Serialize (Archive *a)

Public Attributes
Eigen::Vector3d	pid_gains {7200., 0., 5.}
	Gains to apply to the the WSG fingers.
std::string	lcm_bus {"default"}

Member Function Documentation

◆ Serialize()

template<typename Archive>

void Serialize ( Archive * a )

Member Data Documentation

◆ lcm_bus

std::string lcm_bus {"default"}

◆ pid_gains

Eigen::Vector3d pid_gains {7200., 0., 5.}

Gains to apply to the the WSG fingers.

The p term corresponds approximately to the elastic modulus of the belt, the d term to the viscous friction of the geartrain. The i term is nonphysical.

The documentation for this struct was generated from the following file:

drake/manipulation/schunk_wsg/schunk_wsg_driver.h