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The gripper_action_controller supports single-actuator position- or effort-controlled grippers. What you need to do to use this controller is to expose the actuated joint of your gripper to your robot hardware abstraction (hardware_interface::RobotHW). The joint should be registered to the hardware_interface::PositionJointInterface if it's position-controlled, or to the hardware_interface::EffortJointInterface if it's effort-controlled.

A high-level overview of the ros_control concepts, including how to expose joint resources to a RobotHW instance can be found in the ROSCON 2014 talk (slides, video).

If you have further, more specific questions, don't hesitate to come back.