Parallel Gripper Action Controller

Controller for executing a ParallelGripperCommand action for simple parallel grippers. This controller supports grippers that offer position only control as well as grippers that allow configuring the velocity and effort. By default, the controller will only claim the {joint}/position interface for control. The velocity and effort interfaces can be optionally claimed by setting the max_velocity_interface and max_effort_interface parameter, respectively. By default, the controller will try to claim position and velocity state interfaces. The claimed state interfaces can be configured by setting the state_interfaces parameter.

Parameters

This controller uses the generate_parameter_library to handle its parameters.