Inquiry: how to setup different groups to control some joints seperetly?

[damoclesFabi]

Thank you for the amazing work you have put into the package!

Am wondering about how would one go about creating a move group that only contains the gripper? I have attempted to do so manually by editing the alpha.srdf.xacro, moveit_controllers.yaml, alpha_controllers.yaml, and alpha.launch.py to have another controller manager running for two groups, one group has all joints except for axis_a (the gripper), and the other is the opposite (i.e. only axis_a).

When not using hardware, the mock_components/GenericSystem plugin works well and planning within both groups is a success, but when using a real hardware setup it fails and I believe it might be because of the ros2_control tag in the alpha.ros2_control.xacro file since the hardware driver written in C++ expects all joints at once through the controller as evident by the error:

[ERROR] [resource_manager]: Not acceptable command interfaces combination: 
Start interfaces: 
[
  axis_b/position
  axis_c/position
  axis_d/position
  axis_e/position
]
Stop interfaces: 
[
]
Not available: 
[
 axis_b/position
 axis_c/position
 axis_d/position
 axis_e/position
]

[ERROR] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.

Your guidance in the matter is highly appreciated!