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Merged
aalmrad merged 2 commits into from
Jul 7, 2026
Merged

Jazzy dev #426

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8aebf8e
Gripper command modification in README
aalmrad Jun 16, 2026
4b39ac7
modified the robotiq gripper controller type
aalmrad Jul 7, 2026
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ The Robotiq 2f 85 (or 2f 140) Gripper will be available on the Action topic:
You can test the gripper by calling the Action server with the following command and setting the desired `position` of the gripper (`0.0=open`, `0.8=close`)

```bash
ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}"
ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {position: [0.0], effort: [100.0]}}"
```

#### Gen3_lite gripper
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3 changes: 1 addition & 2 deletions ...x_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/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 @@ -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 ...x_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/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 @@ -52,6 +52,5 @@ twist_controller:

robotiq_gripper_controller:
ros__parameters:
default: true
joint: robotiq_85_left_knuckle_joint
allow_stalling: true
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