calling activate() hangs

[theNerd247]

Assuming the gripper is reset (all registers are 0). The following code hangs:

using Gripper = RobotiqSModelControlClient;
    ....
std::shared_ptr<Gripper> gripper(new Gripper());
      .... 
ROS_INFO_STREAM("Activating the Gripper...");
gripper->activate();
gripper->setGraspingMode(Gripper::GM_pinch);
ros::Duration(5).sleep();
while(!gripper->activationCompleted() && ros::ok()) ros::spinOnce();
ROS_INFO_STREAM("...activated!");

Oddly when debugging the code in gdb the gripper begins its activation sequence after the gripper->activate() call.

[theNerd247]

After a bit more debugging I'm confused as to what the ros::Duration(...).sleep() is for in your example. That is should not while(!gripper->activationCompleted() && ros::ok()) ros::spinOnce(); this wait until the gripper is activated (or replacing !gripper->activationCompleted() with !gripper->stoppedAtRequestedPosition() should make it wait until it's done moving)?

[fevb]

Can't really remember, wrote this code a long while ago and it may be even incompatible with newer versions of the robotiq package. I would check by echoing the "/SModelRobotInput" topic and seeing if gIMC==3 after the activate() function has been called