fix bug in gripper plugin where wrong link was selected while gripping

robocup-logistics · Aug 22, 2022 · c2395a1 · c2395a1
1 parent c65bfcf
commit c2395a1
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/plugins/src/plugins/gripper/gripper.cpp b/plugins/src/plugins/gripper/gripper.cpp
@@ -183,11 +183,13 @@ Gripper::close()
 	setPuckPose();
 
 	// link both models through a joint
-	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "link");
+	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "gripper::link");
 
 	if (!gripperLink) {
 		std::cerr << "Link 'gripper_grab' not found in gripper model" << std::endl;
 		return;
+	} else {
+		std::cout << "Link 'gripper_grab' is: " << gripperLink->GetName() << std::endl;
 	}
 
 	gazebo::physics::LinkPtr puckLink = getLinkEndingWith(grippedPuck, "cylinder");