Add gripper to slider interface

StanfordASL · Nov 3, 2024 · 67e7216 · 67e7216
1 parent 8c52d1f
commit 67e7216
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/...cutor/executor/slider_control_config.yaml → .../src/executor/executor/slider_config.yaml b/...cutor/executor/slider_control_config.yaml → .../src/executor/executor/slider_config.yaml
@@ -30,3 +30,8 @@ all_motors_control:
         max: 0.45
         to: motors_control[5].value
         default: 0.0
+move_gripper:
+    type: interfaces/srv/GripperAction
+    gripper:
+        to: action
+        default: 'open'
diff --git a/stack/main/src/executor/executor/slider_node.py b/stack/main/src/executor/executor/slider_node.py
@@ -498,7 +498,7 @@ def main(args=None):
     # read passed param file
     filename = len(sys.argv) > 1 and sys.argv[1] or ''
     if not os.path.exists(filename):
-        filename ='slider_control_config.yaml'
+        filename ='slider_config.yaml'
 
     # build GUI
     full_namespace = '{}/{}'.format(node.get_namespace().strip('/'), node.get_name())