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Update to parallel_gripper_controller #324

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Merged
aalmrad merged 1 commit into from
Dec 9, 2025
Merged

Update to parallel_gripper_controller #324

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3 changes: 1 addition & 2 deletions kortex_description/arms/gen3/6dof/config/ros2_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ controller_manager:
type: picknik_twist_controller/PicknikTwistController

robotiq_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

fault_controller:
type: picknik_reset_fault_controller/PicknikResetFaultController
Expand Down Expand Up @@ -51,6 +51,5 @@ twist_controller:

robotiq_gripper_controller:
ros__parameters:
default: true
joint: robotiq_85_left_knuckle_joint
allow_stalling: true
3 changes: 1 addition & 2 deletions kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml
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Expand Up @@ -12,7 +12,7 @@ controller_manager:
type: picknik_twist_controller/PicknikTwistController

robotiq_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController

fault_controller:
type: picknik_reset_fault_controller/PicknikResetFaultController
Expand Down Expand Up @@ -52,6 +52,5 @@ twist_controller:

robotiq_gripper_controller:
ros__parameters:
default: true
joint: robotiq_85_left_knuckle_joint
allow_stalling: true
1 change: 1 addition & 0 deletions kortex_description/package.xml
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Expand Up @@ -21,6 +21,7 @@ for KINOVA KORTEX™ arms and supported grippers</p>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>parallel_gripper_controller</exec_depend>
<exec_depend>picknik_reset_fault_controller</exec_depend>
<exec_depend>picknik_twist_controller</exec_depend>
<exec_depend>rviz2</exec_depend>
Expand Down
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