Merge branch 'main' into fix-ci-again

robotiq_description/config/robotiq_controllers.yaml

@@ -4,7 +4,7 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
     robotiq_gripper_controller:
-      type: antipodal_gripper_action_controller/GripperActionController
+      type: position_controllers/GripperActionController
     robotiq_activation_controller:
       type: robotiq_controllers/RobotiqActivationController
 

robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="ur_to_robotiq" params="prefix connected_to rotation:=^|${0.0}">
+  <xacro:macro name="ur_to_robotiq" params="prefix parent child rotation:=^|${0.0}">
 
     <joint name="${prefix}ur_to_robotiq_joint" type="fixed">
       <!-- The parent link must be read from the robot model it is attached to. -->
-      <parent link="${connected_to}"/>
+      <parent link="${parent}"/>
       <child link="${prefix}ur_to_robotiq_link"/>
       <origin xyz="0 0 0" rpy="0 0 ${rotation}"/>
     </joint>
@@ -31,11 +31,11 @@
 
     <joint name="${prefix}gripper_side_joint" type="fixed">
       <parent link="${prefix}ur_to_robotiq_link"/>
-      <child link="${prefix}gripper_mount_link"/>
+      <child link="${child}"/>
       <!-- <origin xyz="0 0 0.011" rpy="0 ${-pi/2} ${pi/2}"/> -->
       <origin xyz="0 0 0.011" rpy="0 0 0"/>
     </joint>
-    <link name="${prefix}gripper_mount_link"/>
+    <link name="${child}"/>
 
   </xacro:macro>
 </robot>

robotiq_driver/include/robotiq_driver/hardware_interface.hpp

@@ -140,24 +140,24 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
   std::atomic<bool> communication_thread_is_running_;
   void background_task();
 
-  double gripper_closed_pos_;
+  double gripper_closed_pos_ = 0.0;
 
   static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();
 
-  double gripper_position_;
-  double gripper_velocity_;
-  double gripper_position_command_;
+  double gripper_position_ = 0.0;
+  double gripper_velocity_ = 0.0;
+  double gripper_position_command_ = 0.0;
 
   std::atomic<uint8_t> write_command_;
   std::atomic<uint8_t> write_force_;
   std::atomic<uint8_t> write_speed_;
   std::atomic<uint8_t> gripper_current_state_;
 
-  double reactivate_gripper_cmd_;
+  double reactivate_gripper_cmd_ = 0.0;
   std::atomic<bool> reactivate_gripper_async_cmd_;
-  double reactivate_gripper_response_;
-  double gripper_force_;
-  double gripper_speed_;
+  double reactivate_gripper_response_ = 0.0;
+  double gripper_force_ = 0.0;
+  double gripper_speed_ = 0.0;
   std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
 };