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Fix gripper config file #132

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Fix gripper config file #132

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@danielsanjosepro danielsanjosepro commented May 6, 2025 •
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Closes #121.
Closes #133.

I simply:

  • Updated franka_gripper_node.yaml to accept any gripper name (it was set to franka_gripper but the gripper is called arm_id+gripper)
  • Updated the state publish rate of the gripper config, since it can maximally publish at 15 Hz, not 50.
  • Updated the name of the gripper in the gripper launch file from arm_id + "_gripper" to "franka_gripper". The franka.launch.py file expects the girpper to be called that way.

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Gripper config uses wrong name and can not publish at 50 Hz frequency Gripper wrong name leads to now real update of the joints states
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