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Don't assume gripper controller for single joint control in MoveIt Setup Assistant #2555

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merged 5 commits into from Nov 29, 2023
Merged

Don't assume gripper controller for single joint control in MoveIt Setup Assistant #2555

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baf8365
For single joint controllers which are not gripper controllers, still…
forrest-rm Nov 3, 2023
6d52e1f
Use OR
forrest-rm Nov 6, 2023
c6ec5ab
Merge branch 'main' into fix/single-joint-controller
forrest-rm Nov 27, 2023
ddbe0d3
Only check for GripperActionController
forrest-rm Nov 27, 2023
172a2d1
Merge branch 'main' into fix/single-joint-controller
sjahr Nov 28, 2023
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2 changes: 1 addition & 1 deletion moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
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Expand Up @@ -192,7 +192,7 @@ bool ROS2ControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitter&
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
if (ci.joints_.size() != 1)
if (ci.type_ != "position_controllers/GripperActionController")
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While the diff will be slightly larger - maybe swap these statements so that we aren't working in negatives?

if (ci.type_ == "position_controllers/GripperActionController")
{
  emitter << YAML::Key << "joint" << YAML::Value << ci.joints_[0];
}
else
{
  emitter << YAML::Key << "joints" << YAML::Value << ci.joints_;
}

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The default behavior is to use the "joints" parameter as only the gripper controller uses the singular "joint". Either putting the "default" or "positive" clause first would work, but I think I'll leave it as is for now.

{
emitter << YAML::Key << "joints" << YAML::Value << ci.joints_;
}
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