Ignition Gazebo Attach Link Plugin

[aloksharma041]

Problem To Be Solved
Object should be attached to the end effector on contact.

[topguns837]

Interested in this issue !

[aloksharma041]

@topguns837 Sure thanks for your interest!!! I have assigned you this issue!

[Aetherbase]

@topguns837 @aloksharma041 We need a way to explicitly specify if attachlink should be called based on some conditions, following are some of those:

1. If the grasp interaction was explicitly called during bt execution
2. If the real arm has successfuly, with checks, executed grasp interaction
   If possible we need a way to explicitly specify the relative transform with gripper for attachment.

[topguns837]

Thanks @aloksharma041 and @Aetherbase. I have tested a minimal Suction Gripper plugin in Ignition Gazebo fortress by taking inspiration from here.
Here is a video of the same(suction gripper plugin is attached to the blue object) :

Link

P.S. : The flicker issue is not related to the plugin