Adding support for PhantomX Pincher arm

I've tested this successfully with PhantomX Pincher.  (Also requires new config/URDF in Turtlebot which I've pushed to Corot).
i'll take a look at that and repost



-----Original Message-----
From: Michael Ferguson <notifications@github.com>
To: vanadiumlabs/arbotix_ros <arbotix_ros@noreply.github.com>
Cc: corb555 <corb@aol.com>
Sent: Mon, Dec 15, 2014 10:04 pm
Subject: Re: [arbotix_ros] Adding support for PhantomX Pincher arm (#28)


In arbotix_controllers/bin/gripper_controller:
> -
> -        # publishers
> -        self.pub = rospy.Publisher(self.joint+'/command', Float64, queue_size=5)
> -
> -    def setCommand(self, command):
> -        self.pub.publish((command.position * self.scale) + self.center)
> -
> -    def getPosition(self, joint_states):
> -        return 0.0
> -
> -    def getEffort(self, joint_states):
> -        return 1.0
> -
> -
> -class OneSideGripperModel:
> +        self.convert = ParallelConvert()  # routines for conversions

Yeah, given the use of ParallelConvert here, you can use self.joint to get the name of the joint, and access the proper set of parameters (otherwise, you will have to have parameters under both this node and the arbotix driver in order to get the right settings).
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