From 3298016e2d73c7e13ef35a378405d1be084537bb Mon Sep 17 00:00:00 2001
From: shen <664376944@qq.com>
Date: Wed, 15 Apr 2026 11:45:21 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=A4=B9=E7=88=AA=E6=8E=A7?=
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---
 .../openarm_v10_bimanual_controllers.yaml     | 36 ++++++++++++-------
 1 file changed, 24 insertions(+), 12 deletions(-)

diff --git a/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml
index 8a386ee..a39348d 100644
--- a/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml
+++ b/openarm_bringup/config/v10_controllers/openarm_v10_bimanual_controllers.yaml
@@ -30,7 +30,9 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     left_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: forward_command_controller/ForwardCommandController
+      #使用action控制器时，注释掉上面type参数，使用下面的参数配置
+      # type: position_controllers/GripperActionController
 
     right_forward_position_controller:
       type: forward_command_controller/ForwardCommandController
@@ -42,7 +44,9 @@ controller_manager:
       type: joint_trajectory_controller/JointTrajectoryController
 
     right_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: forward_command_controller/ForwardCommandController
+      #使用action控制器时，注释掉上面type参数，使用下面的参数配置
+      # type: position_controllers/GripperActionController
 
 
 left_forward_position_controller:
@@ -103,11 +107,15 @@ left_joint_trajectory_controller:
 
 left_gripper_controller:
   ros__parameters:
-    joint: openarm_left_finger_joint1
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
+    joints:
+      - openarm_left_finger_joint1
+    interface_name: position
+# 使用action控制器时，注释掉上面interface_name和joints参数，使用下面的参数配置
+    # joint: openarm_left_finger_joint1
+    # command_interfaces:
+    #   - position
+    # state_interfaces:
+    #   - position
 
 
 right_forward_position_controller:
@@ -168,8 +176,12 @@ right_joint_trajectory_controller:
 
 right_gripper_controller:
   ros__parameters:
-    joint: openarm_right_finger_joint1
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
\ No newline at end of file
+    joints:
+      - openarm_right_finger_joint1
+    interface_name: position
+# 使用action控制器时，注释掉上面interface_name和joints参数，使用下面的参数配置
+    # joint: openarm_right_finger_joint1
+    # command_interfaces:
+    #   - position
+    # state_interfaces:
+    #   - position
\ No newline at end of file