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Fix for https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/114 #115

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Fix for https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/114 #115

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5 changes: 3 additions & 2 deletions robotiq_description/config/robotiq_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,14 @@ controller_manager:
robotiq_gripper_controller:
ros__parameters:
joint: robotiq_85_left_knuckle_joint
use_effort_interface: false

# Enable effort control (replacement for use_effort_interface)
max_effort_interface: "robotiq_85_left_knuckle_joint/effort"
max_effort_interface: "robotiq_85_left_knuckle_joint/set_gripper_max_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_interface: "robotiq_85_left_knuckle_joint/set_gripper_max_velocity"
max_velocity: 0.5 # TODO tune

# Optional (recommended)
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