Don't assume gripper controller for single joint control in MoveIt Se…

…tup Assistant (backport #2555) (#2560)

* For single joint controllers which are not gripper controllers, still output joints list

* Use OR

* Only check for GripperActionController

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 81094a6)

Co-authored-by: Forrest Rogers-Marcovitz <39061824+forrest-rm@users.noreply.github.com>

moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp

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