Add an initialization of the gripper action command to load current joint position. #425
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bmagyar,
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bmagyar
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Sep 1, 2022
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The gripper action controller is missing an initialization of the
command_instance to load current joint position.This causes that the controller moves focely a joint to 0 position at startup.
This PR adds an initialization to fix it.
This PR solves same problem of #311 with differing approach.
Reference: the init implementation of ROS 1 gripper action controller:
https://github.com/ros-controls/ros_controllers/blob/252d6584b17ae88e614a6c9cd30ba76ef258a193/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h#L91-L97