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### Gripper Action Controller setup for air controlled 2-finger gripper

Hello All!

I am trying to configure an air controlled gripper that I am using with a Fanuc LRMate 200id. What I am trying to do is interface with a Python node that I have written that publishes the state (bool) of the gripper, either open or closed. I would like to use gripper_action_controller to be able to send/recieve goals/feedback/results. As in so far, I have edited the controllers.yaml file in my MoveIt! config directory. This is what my controllers.yaml file looks like:

controller_list: - name: "" action_ns: joint_trajectory_action type: FollowJointTrajectory joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] - name: "gripper_controller" action_ns: gripper_cmd type: GripperCommand joint: - gripper_joint

Thank you!

 2 None gvdhoorn 76092 ●224 ●1106 ●928 http://cor.tudelft.nl/

### Gripper Action Controller setup for air controlled 2-finger gripper

Hello All!

I am trying to configure an air controlled gripper that I am using with a Fanuc LRMate 200id. What I am trying to do is interface with a Python node that I have written that publishes the state (bool) of the gripper, either open or closed. I would like to use gripper_action_controller to be able to send/recieve goals/feedback/results. As in so far, I have edited the controllers.yaml file in my MoveIt! config directory. This is what my controllers.yaml file looks like:

controller_list:
- name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
- name: "gripper_controller"
action_ns: gripper_cmd
type: GripperCommand
joint:
- gripper_jointgripper_joint


Thank you!