ROS distribution compatibility update

config/franka_gripper_node.yaml

 publish_rate: 30  # [Hz]
-default_speed: 0.08  # [m/s]
+default_speed: 0.1  # [m/s]
 default_grasp_epsilon:
-  inner: 0.01 # [m]
-  outer: 0.01 # [m]
+  inner: 0.005 # [m]
+  outer: 0.005 # [m]

launch/franka_gripper.launch

 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" />
+  <arg name="stop_at_shutdown" default="false" />
   <arg name="arm_id"      default="panda" />
   <arg name="joint_names" default="[$(arg arm_id)_finger_joint1, $(arg arm_id)_finger_joint2]" />
 
   <node name="franka_gripper" pkg="franka_gripper" type="franka_gripper_node" output="screen">
     <param name="robot_ip" value="$(arg robot_ip)"/>
+    <param name="stop_at_shutdown" value="$(arg stop_at_shutdown)" />
     <rosparam command="load" file="$(find franka_gripper)/config/franka_gripper_node.yaml" />
     <rosparam param="joint_names" subst_value="true">$(arg joint_names)</rosparam>
   </node>

package.xml

 <?xml version="1.0"?>
 <package format="2">
   <name>franka_gripper</name>
-  <version>0.7.0</version>
+  <version>0.8.2</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
   <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

src/franka_gripper.cpp

@@ -33,7 +33,6 @@ void gripperCommandExecuteCallback(
     double default_speed,
     actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
     const control_msgs::GripperCommandGoalConstPtr& goal) {
-
   auto gripper_command_handler = [goal, grasp_epsilon, default_speed, &gripper]() {
     // HACK: As one gripper finger is <mimic>, MoveIt!'s trajectory execution manager
     // only sends us the width of one finger. Multiply by 2 to get the intended width.

src/franka_gripper_node.cpp

@@ -152,6 +152,12 @@ int main(int argc, char** argv) {
     return -1;
   }
 
+  bool stop_at_shutdown(false);
+  if (!node_handle.getParam("stop_at_shutdown", stop_at_shutdown)) {
+    ROS_INFO_STREAM("franka_gripper_node: Could not find parameter stop_at_shutdown. Defaulting to "
+                    << std::boolalpha << stop_at_shutdown);
+  }
+
   franka::GripperState gripper_state;
   std::mutex gripper_state_mutex;
   std::thread read_thread([&gripper_state, &gripper, &gripper_state_mutex]() {
@@ -188,5 +194,8 @@ int main(int argc, char** argv) {
     rate.sleep();
   }
   read_thread.join();
+  if (stop_at_shutdown) {
+    gripper.stop();
+  }
   return 0;
 }