fix parameter namespacing for gripper controller (#3023)

* fix parameter name for parallel gripper mode * update other params * formatting --------- Co-authored-by: Sebastian Jahr <[email protected]>
moveit · Oct 21, 2024 · 1b8044a · 1b8044a
1 parent 7db58f8
commit 1b8044a
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
@@ -156,7 +156,8 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
 
           new_handle = std::make_shared<GripperControllerHandle>(node_, controller_name, action_ns, max_effort);
           bool parallel_gripper = false;
-          if (node_->get_parameter(makeParameterName(PARAM_BASE_NAME, "parallel"), parallel_gripper) && parallel_gripper)
+          if (node_->get_parameter(makeParameterName(PARAM_BASE_NAME, controller_name, "parallel"), parallel_gripper) &&
+              parallel_gripper)
           {
             if (controller_joints.size() != 2)
             {
@@ -170,14 +171,16 @@ class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItCo
           else
           {
             std::string command_joint;
-            if (!node_->get_parameter(makeParameterName(PARAM_BASE_NAME, "command_joint"), command_joint))
+            if (!node_->get_parameter(makeParameterName(PARAM_BASE_NAME, controller_name, "command_joint"),
+                                      command_joint))
               command_joint = controller_joints[0];
 
             static_cast<GripperControllerHandle*>(new_handle.get())->setCommandJoint(command_joint);
           }
 
           bool allow_failure;
-          node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, "allow_failure"), allow_failure, false);
+          node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, controller_name, "allow_failure"), allow_failure,
+                                  false);
           static_cast<GripperControllerHandle*>(new_handle.get())->allowFailure(allow_failure);
 
           RCLCPP_INFO_STREAM(getLogger(), "Added GripperCommand controller for " << controller_name);