Simulation improvements (#112)

* Separate generators for robot and simulation handlers (#99)

* Created interface class and put the RPC handlers in robot folder

* Now the robot functions interface work just like before

* Added templates and generation for simulated services

* Added the simulation services to the driver headers

* Added newly generated files to repo

* Adapt simulation launch files and add prefix support for simulation and MoveIt (#100)

* Created interface class and put the RPC handlers in robot folder

* Now the robot functions interface work just like before

* Added templates and generation for simulated services

* Added the simulation services to the driver headers

* Added newly generated files to repo

* Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode

* Adapt joint_limits files to correctly take prefix option

* Change description and control files to support prefix option

* Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain

* Added xacro usage in SRDF files to be able to prefix joint names

* Adjust ompl planning launch and config files to support prefixing joint names

* Remove --inorder from xacro calls since it's default now

* Create simulation handlers (#102)

* Created interface class and put the RPC handlers in robot folder

* Now the robot functions interface work just like before

* Added templates and generation for simulated services

* Added the simulation services to the driver headers

* Added newly generated files to repo

* Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode

* Adapt joint_limits files to correctly take prefix option

* Change description and control files to support prefix option

* Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain

* Added xacro usage in SRDF files to be able to prefix joint names

* Adjust ompl planning launch and config files to support prefixing joint names

* Remove --inorder from xacro calls since it's default now

* Set default gripper in launch files

* Add namespace to launch file parameters passed to driver

* Added class and implementation for simulator

* Add stubs and register handlers for Action API

* Add implementation for default actions and ReacAction/ReadAllActions

* Added some unit tests for simulator and CreateAction implentation

* Added the case where the prefix could be empty in XACRO

* Added prefix support for fake controllers in MoveIt configs

* Added a missing prefix value for Gen3 and fix the if and unless tags

* Add test launch file to launch simulator unit tests

* Don't create the gripper Move Group if no gripper on the arm

* Added DeleteAction implementation and tests

* Add implementation and tests for UpdateAction

* Added basic frame for a threaded action executor

* Added publishing for action topic before and after action execution

* Added StopAction logic and tests for executing and aborting actions

* Added stubs for other RPCs we want to support at first in simulation

* Added implementation for other RPCs worth simulating

* Added some data structure checks and TODOs in executors

* Added tests for newly added RPCs

* Remove merge artefacts

* Implementation for angular position control, Cartesian position control and gripper position control (#105)

* Created interface class and put the RPC handlers in robot folder

* Now the robot functions interface work just like before

* Added templates and generation for simulated services

* Added the simulation services to the driver headers

* Added newly generated files to repo

* Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode

* Adapt joint_limits files to correctly take prefix option

* Change description and control files to support prefix option

* Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain

* Added xacro usage in SRDF files to be able to prefix joint names

* Adjust ompl planning launch and config files to support prefixing joint names

* Remove --inorder from xacro calls since it's default now

* Set default gripper in launch files

* Add namespace to launch file parameters passed to driver

* Added class and implementation for simulator

* Add stubs and register handlers for Action API

* Add implementation for default actions and ReacAction/ReadAllActions

* Added some unit tests for simulator and CreateAction implentation

* Added the case where the prefix could be empty in XACRO

* Added prefix support for fake controllers in MoveIt configs

* Added a missing prefix value for Gen3 and fix the if and unless tags

* Add test launch file to launch simulator unit tests

* Don't create the gripper Move Group if no gripper on the arm

* Added DeleteAction implementation and tests

* Add implementation and tests for UpdateAction

* Added basic frame for a threaded action executor

* Added publishing for action topic before and after action execution

* Added StopAction logic and tests for executing and aborting actions

* Added stubs for other RPCs we want to support at first in simulation

* Added implementation for other RPCs worth simulating

* Added some data structure checks and TODOs in executors

* Added tests for newly added RPCs

* Remove merge artefacts

* Added implementation for ReachJointAngles action - optimal duration implementation remain

* Added KDL parsing and solvers construction

* Add max velocities and max accelerations to joint_limits.yaml files

* Add a helper to fill KortexError and finish velocity profiles implementation for ReachJointAngles

* Now use the velocity profile data to fill the trajectory

* Add implementation for angular position control

* Add same ROS parameters than real arm and adjust first timestamp to not be 0

* Fix MoveIt config Gen3 lite home position

* Added ReachPose implementation, twist limits still hardcoded

* Add twist limits files for simulation

* Use the correct Cartesian velocity and acceleration values for each arm and correctly use velocity limits in constraints

* Add simulated feedback support and change current state to fetch joint_states instead of controller state

* Added implementation for gripper control

* Fixed a Robotiq 2F-140 typo in the moveit config

* Added indexes for first arm joint and gripper joint because sometimes gripper joint is at the start of joint_states and sometimes it's at the end

* Address PR comments

* Fix tool frame for 6DOF Gen3 arm

* Simulation velocity control, documentation and examples update (#109)

* Created interface class and put the RPC handlers in robot folder

* Now the robot functions interface work just like before

* Added templates and generation for simulated services

* Added the simulation services to the driver headers

* Added newly generated files to repo

* Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode

* Adapt joint_limits files to correctly take prefix option

* Change description and control files to support prefix option

* Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain

* Added xacro usage in SRDF files to be able to prefix joint names

* Adjust ompl planning launch and config files to support prefixing joint names

* Remove --inorder from xacro calls since it's default now

* Set default gripper in launch files

* Add namespace to launch file parameters passed to driver

* Added class and implementation for simulator

* Add stubs and register handlers for Action API

* Add implementation for default actions and ReacAction/ReadAllActions

* Added some unit tests for simulator and CreateAction implentation

* Added the case where the prefix could be empty in XACRO

* Added prefix support for fake controllers in MoveIt configs

* Added a missing prefix value for Gen3 and fix the if and unless tags

* Add test launch file to launch simulator unit tests

* Don't create the gripper Move Group if no gripper on the arm

* Added DeleteAction implementation and tests

* Add implementation and tests for UpdateAction

* Added basic frame for a threaded action executor

* Added publishing for action topic before and after action execution

* Added StopAction logic and tests for executing and aborting actions

* Added stubs for other RPCs we want to support at first in simulation

* Added implementation for other RPCs worth simulating

* Added some data structure checks and TODOs in executors

* Added tests for newly added RPCs

* Remove merge artefacts

* Added implementation for ReachJointAngles action - optimal duration implementation remain

* Added KDL parsing and solvers construction

* Add max velocities and max accelerations to joint_limits.yaml files

* Add a helper to fill KortexError and finish velocity profiles implementation for ReachJointAngles

* Now use the velocity profile data to fill the trajectory

* Add implementation for angular position control

* Add same ROS parameters than real arm and adjust first timestamp to not be 0

* Fix MoveIt config Gen3 lite home position

* Added ReachPose implementation, twist limits still hardcoded

* Add twist limits files for simulation

* Use the correct Cartesian velocity and acceleration values for each arm and correctly use velocity limits in constraints

* Add simulated feedback support and change current state to fetch joint_states instead of controller state

* Added implementation for gripper control

* Fixed a Robotiq 2F-140 typo in the moveit config

* Added indexes for first arm joint and gripper joint because sometimes gripper joint is at the start of joint_states and sometimes it's at the end

* Changed the way the individual position controllers are loaded and started as well as added service client in simulator to switch controllers based on RPC called

* Added implementation for angular velocity control and added joint limits to simulation class. Will need a way to wrap-around angles now that velocity control for infinite spinning joint is on.

* Added wrapping around in reach joint angles

* Fix a problem with timestamps

* Added an implementation for SendTwistCommand but not stable enough to be activated so handler is commented out

* Dont start the joint_7 controller for a 6DOF robot

* Changed the examples to use notifications to check whether an action is finished or not and removed the sleeps

* Put back the homing script for Gazebo and removed the copyright notice since we don't use MoveIt anymore to home the arm

* Adapt documentation for new simulation features

* Updated the package.xml's with bumped versions and author and maintainer tags

* Few minor tweaks in the examples

* Added a bit of details in the documentation

CMakeLists.txt

@@ -1 +1 @@
-/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake

kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml

@@ -1,73 +1,73 @@
 # Publish all joint states -----------------------------------
-joint_state_controller:
+$(arg prefix)joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50  
 
-gen3_joint_trajectory_controller:
+$(arg prefix)gen3_joint_trajectory_controller:
     type: effort_controllers/JointTrajectoryController
     joints:
-        - joint_1
-        - joint_2
-        - joint_3
-        - joint_4
-        - joint_5
-        - joint_6
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
     constraints:
         goal_time: 1.0
         stopped_velocity_tolerance: 0.5
     stop_trajectory_duration: 1.0
     state_publish_rate:  25
     action_monitor_rate: 25
     gains:
-        joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
-        joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
-        joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
 
-joint_1_position_controller:
-    joint: joint_1
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
     pid:
         p: 3000.0
         i: 0.0
         d: 2.0
     type: effort_controllers/JointPositionController
 
-joint_2_position_controller:
-    joint: joint_2
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_3_position_controller:
-    joint: joint_3
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_4_position_controller:
-    joint: joint_4
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
     pid:
         p: 750.0
         i: 0.0
         d: 0.2
     type: effort_controllers/JointPositionController
 
-joint_5_position_controller:
-    joint: joint_5
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
     pid:
         p: 5000.0
         i: 0.0
         d: 1.0
     type: effort_controllers/JointPositionController
 
-joint_6_position_controller:
-    joint: joint_6
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
     pid:
         p: 100.0
         i: 0.0

kortex_control/arms/gen3/7dof/config/joint_position_controllers.yaml

@@ -1,83 +1,83 @@
 # Publish all joint states -----------------------------------
-joint_state_controller:
+$(arg prefix)joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50  
 
-gen3_joint_trajectory_controller:
+$(arg prefix)gen3_joint_trajectory_controller:
     type: effort_controllers/JointTrajectoryController
     joints:
-        - joint_1
-        - joint_2
-        - joint_3
-        - joint_4
-        - joint_5
-        - joint_6
-        - joint_7
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
+        - $(arg prefix)joint_7
     constraints:
         goal_time: 1.0
         stopped_velocity_tolerance: 0.5
     stop_trajectory_duration: 1.0
     state_publish_rate:  25
     action_monitor_rate: 25
     gains:
-        joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
-        joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
-        joint_3: {p: 3000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_4: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_5: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_6: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_7: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 3000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_7: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
 
-joint_1_position_controller:
-    joint: joint_1
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
     pid:
         p: 3000.0
         i: 0.0
         d: 2.0
     type: effort_controllers/JointPositionController
 
-joint_2_position_controller:
-    joint: joint_2
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_3_position_controller:
-    joint: joint_3
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
     pid:
         p: 3000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_4_position_controller:
-    joint: joint_4
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_5_position_controller:
-    joint: joint_5
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
     pid:
         p: 750.0
         i: 0.0
         d: 0.2
     type: effort_controllers/JointPositionController
 
-joint_6_position_controller:
-    joint: joint_6
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
     pid:
         p: 5000.0
         i: 0.0
         d: 1.0
     type: effort_controllers/JointPositionController
 
-joint_7_position_controller:
-    joint: joint_7
+$(arg prefix)joint_7_position_controller:
+    joint: $(arg prefix)joint_7
     pid:
         p: 100.0
         i: 0.0

kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml

@@ -1,73 +1,73 @@
 # Publish all joint states -----------------------------------
-joint_state_controller:
+$(arg prefix)joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50  
 
-gen3_lite_joint_trajectory_controller:
+$(arg prefix)gen3_lite_joint_trajectory_controller:
     type: effort_controllers/JointTrajectoryController
     joints:
-        - joint_1
-        - joint_2
-        - joint_3
-        - joint_4
-        - joint_5
-        - joint_6
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
     constraints:
         goal_time: 1.0
         stopped_velocity_tolerance: 0.5
     stop_trajectory_duration: 1.0
     state_publish_rate:  25
     action_monitor_rate: 25
     gains:
-        joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
-        joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
-        joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
-        joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
 
-joint_1_position_controller:
-    joint: joint_1
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
     pid:
         p: 3000.0
         i: 0.0
         d: 2.0
     type: effort_controllers/JointPositionController
 
-joint_2_position_controller:
-    joint: joint_2
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_3_position_controller:
-    joint: joint_3
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
     pid:
         p: 50000.0
         i: 0.0
         d: 0.0
     type: effort_controllers/JointPositionController
 
-joint_4_position_controller:
-    joint: joint_4
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
     pid:
         p: 750.0
         i: 0.0
         d: 0.2
     type: effort_controllers/JointPositionController
 
-joint_5_position_controller:
-    joint: joint_5
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
     pid:
         p: 5000.0
         i: 0.0
         d: 1.0
     type: effort_controllers/JointPositionController
 
-joint_6_position_controller:
-    joint: joint_6
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
     pid:
         p: 100.0
         i: 0.0

kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml

@@ -1,11 +1,11 @@
-gen3_lite_2f_gripper_controller:
+$(arg prefix)gen3_lite_2f_gripper_controller:
     type: position_controllers/GripperActionController
-    joint: right_finger_bottom_joint
+    joint: $(arg prefix)right_finger_bottom_joint
     action_monitor_rate: 100
 
 gazebo_ros_control:
   pid_gains:
-        right_finger_bottom_joint: {p: 0.1, i: 0.0, d: 0.0} 
-        right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} 
-        left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
-        left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}
+        $(arg prefix)right_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
+        $(arg prefix)right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} 
+        $(arg prefix)left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
+        $(arg prefix)left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}

kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml

@@ -1,13 +1,13 @@
-robotiq_2f_140_gripper_controller:
+$(arg prefix)robotiq_2f_140_gripper_controller:
     type: position_controllers/GripperActionController
-    joint: finger_joint
+    joint: $(arg prefix)finger_joint
     action_monitor_rate: 100
 
 gazebo_ros_control:
   pid_gains:
-        finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
-        right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
-        right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 

kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml

@@ -1,13 +1,13 @@
-robotiq_2f_85_gripper_controller:
+$(arg prefix)robotiq_2f_85_gripper_controller:
     type: position_controllers/GripperActionController
-    joint: finger_joint
+    joint: $(arg prefix)finger_joint
     action_monitor_rate: 100
 
 gazebo_ros_control:
   pid_gains:
-        finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
-        right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
-        left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
-        right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001}