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Add an initialization of the gripper action command to load current joint position. #425

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Sep 1, 2022
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Add an initialization of the gripper action command to load current joint position. #425

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1 change: 1 addition & 0 deletions gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -298,6 +298,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
// Command - non RT version
command_struct_.position_ = joint_position_state_interface_->get().get_value();
command_struct_.max_effort_ = default_max_effort_;
command_.initRT(command_struct_);

// Result
pre_alloc_result_ = std::make_shared<control_msgs::action::GripperCommand::Result>();
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