1 files changed, 49 insertions, 0 deletions
diff --git a/moveit-simple-controller-manager-remove-parallel-gripper-command.patch b/moveit-simple-controller-manager-remove-parallel-gripper-command.patch
new file mode 100644
index 0000000..d875987
--- /dev/null
+++ b/moveit-simple-controller-manager-remove-parallel-gripper-command.patch
@@ -0,0 +1,49 @@
+diff --git a/src/moveit_simple_controller_manager.cpp b/src/moveit_simple_controller_manager.cpp
+--- a/src/moveit_simple_controller_manager.cpp
++++ b/src/moveit_simple_controller_manager.cpp
+@@ -37,7 +37,6 @@
+ 
+ #include <moveit_simple_controller_manager/action_based_controller_handle.hpp>
+ #include <moveit_simple_controller_manager/gripper_command_controller_handle.hpp>
+-#include <moveit_simple_controller_manager/parallel_gripper_command_controller_handle.hpp>
+ #include <moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.hpp>
+ #include <boost/algorithm/string/join.hpp>
+ #include <pluginlib/class_list_macros.hpp>
+@@ -182,37 +181,6 @@
+           RCLCPP_INFO_STREAM(getLogger(), "Added GripperCommand controller for " << controller_name);
+           controllers_[controller_name] = new_handle;
+         }
+-        else if (type == "ParallelGripperCommand")
+-        {
+-          double max_effort;
+-          node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, controller_name, "max_effort"), max_effort, 0.0);
+-          if (max_effort > 0.0)
+-          {
+-            RCLCPP_INFO_STREAM(getLogger(), controller_name << " will command a max effort of: " << max_effort);
+-          }
+-
+-          double max_velocity;
+-          node_->get_parameter_or(makeParameterName(PARAM_BASE_NAME, controller_name, "max_velocity"), max_velocity,
+-                                  0.0);
+-          if (max_effort > 0.0)
+-          {
+-            RCLCPP_INFO_STREAM(getLogger(), controller_name << " will command a max velocity of: " << max_velocity);
+-          }
+-
+-          new_handle = std::make_shared<ParallelGripperCommandControllerHandle>(node_, controller_name, action_ns,
+-                                                                                max_effort, max_velocity);
+-
+-          if (controller_joints.size() > 1)
+-          {
+-            RCLCPP_WARN_STREAM(getLogger(), "ParallelGripperCommand controller only supports commanding a single joint "
+-                                            "and multiple joint names were specified. Assuming control of joint: "
+-                                                << controller_joints[0]);
+-          }
+-          static_cast<ParallelGripperCommandControllerHandle*>(new_handle.get())->setCommandJoint(controller_joints[0]);
+-
+-          RCLCPP_INFO_STREAM(getLogger(), "Added ParallelGripperCommand controller for " << controller_name);
+-          controllers_[controller_name] = new_handle;
+-        }
+         else if (type == "FollowJointTrajectory")
+         {
+           new_handle = std::make_shared<FollowJointTrajectoryControllerHandle>(node_, controller_name, action_ns);