Forward Controller working

Now 2 states where published:
gripper_gap - which is the actuall gap between the two finger plates
finger_joint - which is the old angle

src/robotiq_2f/robotiq_2f_controllers/include/robotiq_2f_controllers/robotiq_forward_controller_old.hpp

@@ -1,47 +0,0 @@
-
-#ifndef ROBOTIQ_FORWARD_CONTROLLER_HPP
-#define ROBOTIQ_FORWARD_CONTROLLER_HPP
-
-#include <vector>
-#include <string>
-
-#include "controller_interface/controller_interface.hpp"
-#include <rclcpp/rclcpp.hpp>
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "hardware_interface/loaned_command_interface.hpp"
-#include <hardware_interface/types/hardware_interface_type_values.hpp>
-
-#include "robotiq_2f_msgs/msg/forward_command.hpp"
-
-
-namespace robotiq_2f_controllers
-{
-class RobotiqForwardController : public controller_interface::ControllerInterface
-{
-public:
-    RobotiqForwardController();
-    controller_interface::InterfaceConfiguration command_interface_configuration() const override;
-    controller_interface::InterfaceConfiguration state_interface_configuration() const override;
-    controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init() override;
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
-
-private:
-    std::string joint_name_;
-    hardware_interface::LoanedCommandInterface position_command_;
-    hardware_interface::LoanedCommandInterface max_effort_command_;
-    hardware_interface::LoanedCommandInterface max_velocity_command_;
-
-    rclcpp::Subscription<robotiq_2f_msgs::msg::ForwardCommand>::SharedPtr command_subscriber_;
-    double desired_position_;
-    double desired_max_velocity_;
-    double desired_max_effort_;
-
-    void command_callback(const robotiq_2f_msgs::msg::ForwardCommand::SharedPtr msg);
-
-};
-}
-#endif

src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml

@@ -4,6 +4,6 @@ robotiq_2f_gripper:
   max_position: 0.14    # Meters (fully open)
   max_angle: 0.695      # radiants (closed)
   min_speed: 0.02       # Meters per second
-  max_speed: 0.5       # Meters per second
+  max_speed: 0.15      # Meters per second
   min_force: 20.0       # Newtons
   max_force: 235.0      # Newtons

src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp

@@ -51,9 +51,7 @@ public:
         isActive.store(true);  // Ensure we set active before moving
         if (!autoCalibrate) {
             // Simulate a calibration sequence
-            move_and_wait(0, 64, 1);
+            move_and_wait(0, 255, 1);
-            move_and_wait(255, 64, 1);
-            move_and_wait(0, 64, 1);
         }
     }
 
@@ -96,7 +94,7 @@ private:
         // Simulate moving towards the target position
         while (gripperPosition.load() != targetPosition) {
             gripperPosition.fetch_add(step);
-            std::this_thread::sleep_for(std::chrono::milliseconds(100)); // Simulate time to move a step
+            std::this_thread::sleep_for(std::chrono::milliseconds(10)); // Simulate time to move a step
         }
 
         std::cout << "Reached position " << targetPosition << " with speed " << speed << " and force " << force << std::endl;