From 91593c552594ce29de99bac1eabfec2ccee01a55 Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Mon, 15 Apr 2024 13:56:10 +0200
Subject: [PATCH] mock system working

---
 .../config/robotiq_controllers.yaml           | 26 +++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
index abf1af8..0e58ad7 100644
--- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
+++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
@@ -5,6 +5,10 @@ controller_manager:
       type: joint_state_broadcaster/JointStateBroadcaster
     robotiq_gripper_controller:
       type: position_controllers/GripperActionController
+    fake_gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+    forward_gripper_position_controller:
+      type: position_controllers/JointGroupPositionController
     robotiq_activation_controller:
       type: robotiq_controllers/RobotiqActivationController
 
@@ -15,6 +19,28 @@ robotiq_gripper_controller:
     use_effort_interface: true
     use_speed_interface: true
 
+forward_gripper_position_controller:
+  ros__parameters:
+    joints:
+      - finger_joint
+
+fake_gripper_controller:
+  ros__parameters:
+    joints:
+     - finger_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      finger_joint: { trajectory: 0.2, goal: 0.1 }
+
 robotiq_activation_controller:
   ros__parameters:
     default: true
\ No newline at end of file