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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);
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