Skip to content

Update gripper_controllers to parallel_gripper_controller #103

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nbbrooks merged 1 commit into from
Nov 29, 2025
Merged

Update gripper_controllers to parallel_gripper_controller #103

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 16 additions & 4 deletions robotiq_description/config/robotiq_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,17 +3,29 @@ controller_manager:
update_rate: 500 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
# Jazzy and newer: parallel_gripper_action_controller replaces gripper_controllers package
robotiq_gripper_controller:
type: position_controllers/GripperActionController
type: parallel_gripper_action_controller/GripperActionController
robotiq_activation_controller:
type: robotiq_controllers/RobotiqActivationController

robotiq_gripper_controller:
ros__parameters:
default: true
joint: robotiq_85_left_knuckle_joint
use_effort_interface: true
use_speed_interface: true

# Enable effort control (replacement for use_effort_interface)
max_effort_interface: "robotiq_85_left_knuckle_joint/effort"
max_effort: 50.0 # TODO tune

# Enable velocity/speed control (replacement for use_speed_interface)
max_velocity_interface: "robotiq_85_left_knuckle_joint/velocity"
max_velocity: 0.5 # TODO tune

# Optional (recommended)
state_interfaces: ["position", "velocity"]
allow_stalling: true
stall_timeout: 0.05
goal_tolerance: 0.02

robotiq_activation_controller:
ros__parameters:
Expand Down
2 changes: 1 addition & 1 deletion robotiq_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
<exec_depend>ros2_control</exec_depend>
<exec_depend>ros2_controllers</exec_depend>

<exec_depend>gripper_controllers</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>parallel_gripper_controller</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
Loading