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fix parameter namespacing for gripper controller #3023

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merged 5 commits into from
Oct 21, 2024
Merged

fix parameter namespacing for gripper controller #3023

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41fdce9
fix parameter name for parallel gripper mode
mikeferguson Oct 9, 2024
0d86eee
update other params
mikeferguson Oct 9, 2024
666cc3b
Merge branch 'main' into parallel_param_fix
sjahr Oct 11, 2024
12dd0c5
Merge branch 'main' into parallel_param_fix
sjahr Oct 14, 2024
c050bc8
formatting
mikeferguson Oct 15, 2024
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6 changes: 3 additions & 3 deletions moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo

new_handle = std::make_shared<GripperControllerHandle>(node_, controller_name, action_ns, max_effort);
bool parallel_gripper = false;
if (node_->get_parameter(makeParameterName(PARAM_BASE_NAME, "parallel"), parallel_gripper) && parallel_gripper)
if (node_->get_parameter(makeParameterName(PARAM_BASE_NAME, controller_name, "parallel"), parallel_gripper) && parallel_gripper)
{
if (controller_joints.size() != 2)
{
Expand All @@ -170,14 +170,14 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
else
{
std::string command_joint;
if (!node_->get_parameter(makeParameterName(PARAM_BASE_NAME, "command_joint"), command_joint))
if (!node_->get_parameter(makeParameterName(PARAM_BASE_NAME, controller_name, "command_joint"), command_joint))
command_joint = controller_joints[0];

static_cast<GripperControllerHandle*>(new_handle.get())->setCommandJoint(command_joint);
}

bool allow_failure;
node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, "allow_failure"), allow_failure, false);
node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, controller_name, "allow_failure"), allow_failure, false);
static_cast<GripperControllerHandle*>(new_handle.get())->allowFailure(allow_failure);

RCLCPP_INFO_STREAM(getLogger(), "Added GripperCommand controller for " << controller_name);
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