From 87e57e99f2de8cc485b7bafb14acf9c66cb98977 Mon Sep 17 00:00:00 2001 From: Ravi Joshi <1439011+ravijo@users.noreply.github.com> Date: Fri, 30 Jan 2026 20:38:16 +0900 Subject: [PATCH] Fix for https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/114 Update gripper controller parameters in YAML config --- robotiq_description/config/robotiq_controllers.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/robotiq_description/config/robotiq_controllers.yaml b/robotiq_description/config/robotiq_controllers.yaml index 969bba9..43b9098 100644 --- a/robotiq_description/config/robotiq_controllers.yaml +++ b/robotiq_description/config/robotiq_controllers.yaml @@ -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)