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Fix disagreement between robotiq_controllers.yaml and 2f_85.ros2_control.xacro #124

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Fix disagreement between robotiq_controllers.yaml and 2f_85.ros2_control.xacro #124

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67e1754
ROS2 control/command interface tweak to make gripper startup work
huoshengyu May 26, 2026
b14a116
Revert launch file changes to minimize PR diff
huoshengyu May 26, 2026
b4031fc
Restore modified settings to aid testing
huoshengyu May 26, 2026
f9f8285
Simplified solution: just comment out missing interfaces from robotiq…
huoshengyu May 28, 2026
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8 changes: 4 additions & 4 deletions robotiq_description/config/robotiq_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,12 +14,12 @@ robotiq_gripper_controller:
joint: robotiq_85_left_knuckle_joint

# Enable effort control (replacement for use_effort_interface)
max_effort_interface: "robotiq_85_left_knuckle_joint/effort"
max_effort: 50.0 # TODO tune
# max_effort_interface: "robotiq_85_left_knuckle_joint/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: 0.5 # TODO tune
# max_velocity_interface: "robotiq_85_left_knuckle_joint/velocity"
# max_velocity: 0.5 # TODO tune

# Optional (recommended)
state_interfaces: ["position", "velocity"]
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