From dfbf3078dc8cce689c3ea1e5c2a3b8d9362ac66c Mon Sep 17 00:00:00 2001
From: Simon Gabl <simon.gabl@franka.de>
Date: Wed, 13 Sep 2017 12:50:20 +0200
Subject: [PATCH] Rename grasp parameter 'max_force' to 'force'.
---
franka_gripper/action/Grasp.action | 2 +-
franka_gripper/src/franka_gripper.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/franka_gripper/action/Grasp.action b/franka_gripper/action/Grasp.action
index 4fa4875..97fa832 100644
--- a/franka_gripper/action/Grasp.action
+++ b/franka_gripper/action/Grasp.action
@@ -1,6 +1,6 @@
float64 width # [m]
float64 speed # [m/s]
-float64 max_force # [N]
+float64 force # [N]
---
bool success
string error
diff --git a/franka_gripper/src/franka_gripper.cpp b/franka_gripper/src/franka_gripper.cpp
index 7596ea2..9684e5d 100644
--- a/franka_gripper/src/franka_gripper.cpp
+++ b/franka_gripper/src/franka_gripper.cpp
@@ -75,7 +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_force);
+ return gripper.grasp(goal->width, goal->speed, goal->force);
}
} // namespace franka_gripper
--
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