# Hand-E gripper overlay — loaded by the spawner's --param-file, not by
# ros2_control_node. `/**` + ros__parameters.type is the format the spawner reads.
# joint is literal (no $(var tf_prefix)): the spawner won't expand it; LiX uses "".
# Values from 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