{"action":"opened","issue":{"url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/155","labels_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/155/labels{/name}","comments_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/155/comments","events_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/155/events","html_url":"https://github.com/ros-controls/ros_controllers/issues/155","id":54278951,"number":155,"title":"gripper_action_controller ","user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-01-14T03:06:17Z","updated_at":"2015-01-14T03:06:17Z","closed_at":null,"body":"Can you shed some light on the gripper_action_controller for me Adolfo?\r\n\r\nSpecifically, I don't believe this is implemented correctly: (Starting at line 151 of this file https://github.com/ros-controls/ros_controllers/blob/indigo-devel/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h)\r\n\r\n\r\nWhy is it only looking for one joint? Shouldn't it be taking an array of joints or is it specifically looking for the ee_joint? If it's using the ee_joint, I'm not sure what to put in the .yaml config as there's no docs anywhere.\r\n\r\n // Controlled joint\r\ncontroller_nh_.getParam(\"joint\", joint_name_);\r\nif (joint_name_.empty())\r\n{\r\nROS_ERROR_STREAM_NAMED(name_, \"Could not find joint name on param server\");\r\nreturn false;\r\n}\r\n// URDF joints\r\nboost::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, \"robot_description\");\r\nif (!urdf)\r\n{\r\nreturn false;\r\n}\r\nstd::vector<std::string> joint_names;\r\njoint_names.push_back(joint_name_);\r\nstd::vector<UrdfJointConstPtr> urdf_joints = getUrdfJoints(*urdf, joint_names);\r\nif (urdf_joints.empty())\r\n{\r\nreturn false;\r\n}\r\n// Initialize members\r\n// Joint handle\r\ntry\r\n{\r\njoint_ = hw->getHandle(joint_name_);\r\n}\r\ncatch (...)\r\n{\r\nROS_ERROR_STREAM_NAMED(name_, \"Could not find joint '\" << joint_name_ << \"' in '\" <<\r\nthis->getHardwareInterfaceType() << \"'.\");\r\nreturn false;\r\n}\r\nROS_DEBUG_STREAM_NAMED(name_, \"Initialized controller '\" << name_ << \"' with:\" <<\r\n\"\\n- Hardware interface type: '\" << this->getHardwareInterfaceType() << \"'\" <<\r\n\"\\n\");\r\n"}}