From cfe7d445e27dea989143436fb881123e7c03725a Mon Sep 17 00:00:00 2001
From: Thore Goll <31999281+gollth@users.noreply.github.com>
Date: Wed, 16 Mar 2022 08:42:38 +0100
Subject: [PATCH] Don't load/start franka_gripper as ROS controller (#99)

franka_ros doesn't provide a ros_control controller for the gripper, but a GripperCommand action server.
Thus, there is no need to load/start the gripper controller (via ros_control).
---
 launch/ros_controllers.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch
index 0354d48..3d3b1f4 100644
--- a/launch/ros_controllers.launch
+++ b/launch/ros_controllers.launch
@@ -6,5 +6,5 @@
 
   <!-- Load and start the controllers -->
   <node ns="/" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
-        args="$(arg transmission)_joint_trajectory_controller franka_gripper" />
+        args="$(arg transmission)_joint_trajectory_controller" />
 </launch>
-- 
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