增加夹爪控制器切换

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
+    joints:
-    command_interfaces:
+      - openarm_left_finger_joint1
-      - position
+    interface_name: position
-    state_interfaces:
+# 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
-      - position
+    # 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
+    joints:
-    command_interfaces:
+      - openarm_right_finger_joint1
-      - position
+    interface_name: position
-    state_interfaces:
+# 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
-      - position
+    # joint: openarm_right_finger_joint1
+    # command_interfaces:
+    #   - position
+    # state_interfaces:
+    #   - position