update interface names

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
PickNikRobotics · Feb 14, 2024 · 70167a2 · 70167a2
1 parent fe05cdc
commit 70167a2
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/robotiq_driver/src/hardware_interface.cpp b/robotiq_driver/src/hardware_interface.cpp
@@ -191,13 +191,13 @@ std::vector<hardware_interface::CommandInterface> RobotiqGripperHardwareInterfac
  info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_command_));
 
  command_interfaces.emplace_back(
- hardware_interface::CommandInterface(info_.joints[0].name, "gripper_speed", &gripper_speed_));
+ hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_));
  gripper_speed_ = info_.hardware_parameters.count("gripper_speed_multiplier") ?
  info_.hardware_parameters.count("gripper_speed_multiplier") :
  1.0;
 
  command_interfaces.emplace_back(
- hardware_interface::CommandInterface(info_.joints[0].name, "gripper_effort", &gripper_force_));
+ hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_));
  gripper_force_ = info_.hardware_parameters.count("gripper_force_multiplier") ?
  info_.hardware_parameters.count("gripper_force_multiplier") :
  1.0;