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PickNikRobotics / ros2_robotiq_gripper

BSD 3-Clause "New" or "Revised" License
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The gripper_speed_multiplier/gripper_speed_multiplier are not being read instead the count of parameters are read #57

Open ashwinvkNV opened 2 months ago

ashwinvkNV commented 2 months ago
  1. At these lines, the values of the parameters are not being read. Only the count of the parameters are being read.

https://github.com/PickNikRobotics/ros2_robotiq_gripper/blob/main/robotiq_driver/src/hardware_interface.cpp#L195 https://github.com/PickNikRobotics/ros2_robotiq_gripper/blob/main/robotiq_driver/src/hardware_interface.cpp#L201

  1. Although the parameter is called "gripper_force_multiplier/gripper_speed_multiplier", the parameter data is being divided by constants in the below lines. So as per the current logic, these parameters are "gripper_force/gripper_speed" and not "gripper_force_multiplier/gripper_speed_multiplier"

https://github.com/PickNikRobotics/ros2_robotiq_gripper/blob/main/robotiq_driver/src/hardware_interface.cpp#L297 https://github.com/PickNikRobotics/ros2_robotiq_gripper/blob/main/robotiq_driver/src/hardware_interface.cpp#L299