From 508fa8e2aeb4eeeae0c1c87b2231011b0dc03647 Mon Sep 17 00:00:00 2001
From: David Sharpe <ds0196@uah.edu>
Date: Tue, 19 Aug 2025 13:12:11 -0500
Subject: [PATCH] fix: grippers now act correctly

---
 src/astra_arm_moveit_config/.setup_assistant              | 2 +-
 .../config/ASTRA_Arm.ros2_control.xacro                   | 8 --------
 src/astra_arm_moveit_config/config/initial_positions.yaml | 1 -
 .../config/moveit_controllers.yaml                        | 1 -
 src/astra_arm_moveit_config/config/ros2_controllers.yaml  | 3 +--
 5 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/src/astra_arm_moveit_config/.setup_assistant b/src/astra_arm_moveit_config/.setup_assistant
index ce5bdda..6a8d8ee 100644
--- a/src/astra_arm_moveit_config/.setup_assistant
+++ b/src/astra_arm_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: David Sharpe
     author_email: ds0196@uah.edu
-    generated_timestamp: 1755625929
+    generated_timestamp: 1755627043
   control_xacro:
     command:
       - position
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
index 7ae0d65..08aecfc 100644
--- a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
+++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
@@ -56,14 +56,6 @@
                 </state_interface>
                 <state_interface name="velocity"/>
             </joint>
-            <joint name="Gripper_Slider_Right">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['Gripper_Slider_Right']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
             <joint name="Gripper_Slider_Left">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
diff --git a/src/astra_arm_moveit_config/config/initial_positions.yaml b/src/astra_arm_moveit_config/config/initial_positions.yaml
index 2ce5fd6..d7d7a92 100644
--- a/src/astra_arm_moveit_config/config/initial_positions.yaml
+++ b/src/astra_arm_moveit_config/config/initial_positions.yaml
@@ -5,7 +5,6 @@ initial_positions:
   Axis_1_Joint: 0
   Axis_2_Joint: 0
   Axis_3_Joint: 0
-  Gripper_Slider_Right: 0
   Gripper_Slider_Left: 0
   Wrist-EF_Roll_Joint: 0
   Wrist_Differential_Joint: 0
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/moveit_controllers.yaml b/src/astra_arm_moveit_config/config/moveit_controllers.yaml
index 672c3a2..9245f54 100644
--- a/src/astra_arm_moveit_config/config/moveit_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/moveit_controllers.yaml
@@ -22,6 +22,5 @@ moveit_simple_controller_manager:
     type: GripperCommand
     joints:
       - Gripper_Slider_Left
-      - Gripper_Slider_Right
     action_ns: gripper_cmd
     default: true
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/ros2_controllers.yaml b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
index 3cb364a..a043c8d 100644
--- a/src/astra_arm_moveit_config/config/ros2_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
@@ -30,7 +30,6 @@ astra_arm_controller:
     - position
     - velocity
     allow_nonzero_velocity_at_trajectory_end: true
-
 hand_controller:
   ros__parameters:
-    joint: Gripper_Slider_Left
+    joint: Gripper_Slider_Left
\ No newline at end of file