Gripper velocity and force can only be configured by editing the URDF

[pac48]

The gripper closing speed and closing force should be configurable at runtime. The robotiq controller does not provide a mechanism to set the speed and force. The problem can be fixed by adding ROS parameters to robotiq controller and slightly modifying the hardware_interface to export interfaces to control force and velocity.

[pac48]

Blocked by https://github.com/PickNikRobotics/moveit_studio/issues/6256

[nbbrooks]

I noticed https://github.com/PickNikRobotics/moveit_studio/issues/6256 is closed (ros2 control maintainers fixed it another way) - does that mean this is unblocked?

[pac48]

I noticed PickNikRobotics/moveit_studio#6256 is closed (ros2 control maintainers fixed it another way) - does that mean this is unblocked?

I think it is unblocked now, but still waiting on this PR to go in ros-controls/ros2_controllers#1002

[nbbrooks]

It's merged!!!