Don't assume gripper controller for single joint control in MoveIt Se…

…tup Assistant (backport #2555) (#2559) * For single joint controllers which are not gripper controllers, still output joints list * Use OR * Only check for GripperActionController Co-authored-by: Sebastian Jahr <[email protected]> --------- Co-authored-by: Sebastian Jahr <[email protected]> (cherry picked from commit 81094a6) Co-authored-by: Forrest Rogers-Marcovitz <[email protected]>
moveit · Dec 15, 2023 · e9f71ed · e9f71ed
1 parent e01d538
commit e9f71ed
Showing 1 changed file with 1 addition and 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
@@ -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_;
         }