fix: grippers now act correctly

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

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"/>

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

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

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