Stretch Driver supports No Gripper End of Arm configuration

hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/

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Stretch Driver supports No Gripper End of Arm configuration #113

Open hello-fazil opened 2 months ago

hello-fazil commented 2 months ago

When the End-of-Arm is configured for a tool that does not have a gripper present, Stretch Driver errors out looking for 'stretch_gripper' joint. This PR solves this issue.