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Update gripper_controller for new changes in ROS2 Jazzy #61

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Merged
thomasonzhou merged 1 commit into from
Oct 22, 2025
Merged

Update gripper_controller for new changes in ROS2 Jazzy #61

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8 changes: 5 additions & 3 deletions openarm_bimanual_moveit_config/config/ros2_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,10 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController

left_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

right_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
Expand Down Expand Up @@ -74,6 +74,7 @@ left_gripper_controller:
- position
state_interfaces:
- position
- velocity

right_gripper_controller:
ros__parameters:
Expand All @@ -82,4 +83,5 @@ right_gripper_controller:
command_interfaces:
- position
state_interfaces:
- position
- position
- velocity
8 changes: 5 additions & 3 deletions openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController

left_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

right_forward_position_controller:
type: forward_command_controller/ForwardCommandController
Expand All @@ -42,7 +42,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController

right_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController


left_forward_position_controller:
Expand Down Expand Up @@ -108,6 +108,7 @@ left_gripper_controller:
- position
state_interfaces:
- position
- velocity


right_forward_position_controller:
Expand Down Expand Up @@ -172,4 +173,5 @@ right_gripper_controller:
command_interfaces:
- position
state_interfaces:
- position
- position
- velocity
5 changes: 3 additions & 2 deletions openarm_bringup/config/v10_controllers/openarm_v10_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController

gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

forward_position_controller:
ros__parameters:
Expand Down Expand Up @@ -96,4 +96,5 @@ gripper_controller:
command_interfaces:
- position
state_interfaces:
- position
- position
- velocity