Removed newton_to_m_ampere_factor, changed gripper grasp parameter from mA to N.

franka_gripper/action/Grasp.action

 float64 width    # [m]
 float64 speed    # [m/s]
-float64 max_current  # [mA]
+float64 max_force  # [N]
 ---
 bool success
 string error

franka_gripper/config/gripper_node_config.yaml

@@ -4,4 +4,3 @@ joint_names:
   - franka_emika_finger_joint2
 width_tolerance: 0.01  # [m]
 default_speed: 0.1  # [m/s]
-newton_to_m_ampere_factor: 14.9  # [mA/N]

franka_gripper/include/franka_gripper/franka_gripper.h

@@ -31,14 +31,12 @@ bool updateGripperState(const franka::Gripper& gripper, franka::GripperState* st
   *
   * @param[in] gripper A pointer to a franka gripper
   * @param[in] default_speed The default speed for a gripper action
-  * @param[in] newton_to_m_ampere_factor The mapping factor from Newton to milliampere
   * @param[in] action_server A pointer to a gripper action server
   * @param[in] goal A gripper action goal
   */
 void gripperCommandExecuteCallback(
     const franka::Gripper& gripper,
     double default_speed,
-    double newton_to_m_ampere_factor,
     actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
     const control_msgs::GripperCommandGoalConstPtr& goal);
 

franka_gripper/src/franka_gripper.cpp

@@ -28,7 +28,6 @@ bool updateGripperState(const franka::Gripper& gripper, franka::GripperState* st
 void gripperCommandExecuteCallback(
     const franka::Gripper& gripper,
     double default_speed,
-    double newton_to_m_ampere_factor,
     actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
     const control_msgs::GripperCommandGoalConstPtr& goal) {
   std::function<bool()> gripper_command_handler = [=, &gripper]() {
@@ -41,8 +40,7 @@ void gripperCommandExecuteCallback(
     if (goal->command.position >= state.width) {
       return gripper.move(goal->command.position, default_speed);
     }
-    return gripper.grasp(goal->command.position, default_speed,
-                         goal->command.max_effort * newton_to_m_ampere_factor);
+    return gripper.grasp(goal->command.position, default_speed, goal->command.max_effort);
   };
 
   try {
@@ -77,7 +75,7 @@ bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/) {
 }
 
 bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal) {
-  return gripper.grasp(goal->width, goal->speed, goal->max_current);
+  return gripper.grasp(goal->width, goal->speed, goal->max_force);
 }
 
 }  // namespace franka_gripper

franka_gripper/src/franka_gripper_node.cpp

@@ -73,12 +73,6 @@ int main(int argc, char** argv) {
     ROS_INFO_STREAM("franka_gripper_node: Found default_speed" << default_speed);
   }
 
-  double newton_to_m_ampere_factor(14.9);
-  if (node_handle.getParam("newton_to_m_ampere_factor", newton_to_m_ampere_factor)) {
-    ROS_INFO_STREAM("franka_gripper_node: Found newton_to_m_ampere_factor"
-                    << newton_to_m_ampere_factor);
-  }
-
   franka::Gripper gripper(robot_ip);
 
   std::function<bool(const HomingGoalConstPtr&)> homing_handler =
@@ -114,7 +108,7 @@ int main(int argc, char** argv) {
   SimpleActionServer<GripperCommandAction> gripper_command_action_server(
       node_handle, "gripper_action",
       std::bind(&gripperCommandExecuteCallback, std::cref(gripper), default_speed,
-                newton_to_m_ampere_factor, &gripper_command_action_server, std::placeholders::_1),
+                &gripper_command_action_server, std::placeholders::_1),
       false);
 
   homing_action_server_.start();