fix bug in gripper plugin where wrong link was selected while gripping

Author: pkohout

plugins/src/plugins/gripper/gripper.cpp

@@ -183,11 +183,13 @@ Gripper::close()
 	setPuckPose();
 
 	// link both models through a joint
-	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "link");
+	gazebo::physics::LinkPtr gripperLink = getLinkEndingWith(model_, "gripper::link");
 
 	if (!gripperLink) {
 		std::cerr << "Link 'gripper_grab' not found in gripper model" << std::endl;
 		return;
+	} else {
+		std::cout << "Link 'gripper_grab' is: " << gripperLink->GetName() << std::endl;
 	}
 
 	gazebo::physics::LinkPtr puckLink = getLinkEndingWith(grippedPuck, "cylinder");