# Hand-E controller overlay — loaded by the gripper spawner via --param-file,
# NOT by ros2_control_node. The shared base (ur_base_controllers.yaml) carries
# the full UR controller set; this overlay adds ONLY the Hand-E gripper
# controller so the base stays gripper-agnostic.
#
# Format note: the spawner reads `<controller>: ros__parameters: {type:, ...}`
# under the `/**` wildcard and sets both `<controller>.type` and the params on
# the running controller_manager. This layout differs from the base file's
# `controller_manager: ros__parameters: <controller>: type:` — keep them apart.
# Values aligned with upstream AGH-CEAI/robotiq_hande_driver jazzy config.
/**:
gripper_action_controller:
ros__parameters:
type: parallel_gripper_action_controller/GripperActionController
action_monitor_rate: 20.0 # Hz
joint: robotiq_hande_left_finger_joint
goal_tolerance: 0.01 # m
allow_stalling: false
stall_velocity_threshold: 0.001 # m/s
stall_timeout: 1.0 # s
max_effort_interface: ""
max_effort: 10.0 # N
max_velocity_interface: ""
max_velocity: 0.1 # m/s
state_interfaces:
- position
- velocity