From 3234c33d4403502dabcf92f16da8fece7d5e9c8e Mon Sep 17 00:00:00 2001 From: Forrest Rogers-Marcovitz <39061824+forrest-rm@users.noreply.github.com> Date: Wed, 29 Nov 2023 12:09:41 -0500 Subject: [PATCH] Don't assume gripper controller for single joint control in MoveIt Setup Assistant (#2555) * For single joint controllers which are not gripper controllers, still output joints list * Use OR * Only check for GripperActionController Co-authored-by: Sebastian Jahr --------- Co-authored-by: Sebastian Jahr (cherry picked from commit 81094a63898ace7829687d2d6aa3ccb3cdd81b58) --- .../moveit_setup_controllers/src/ros2_controllers_config.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp index 3ce21bffe6..97f1907211 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp +++ b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp @@ -192,7 +192,7 @@ bool ROS2ControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitter& emitter << YAML::Value; emitter << YAML::BeginMap; { - if (ci.joints_.size() != 1) + if (ci.type_ != "position_controllers/GripperActionController") { emitter << YAML::Key << "joints" << YAML::Value << ci.joints_; }