{"action":"opened","issue":{"url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/332","repository_url":"https://api.github.com/repos/ros-controls/ros_controllers","labels_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/332/labels{/name}","comments_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/332/comments","events_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/332/events","html_url":"https://github.com/ros-controls/ros_controllers/issues/332","id":313237342,"number":332,"title":"gripper_action_controller pkg: gripper_cmd action client not connected","user":{"login":"naveen010","id":38134310,"avatar_url":"https://avatars0.githubusercontent.com/u/38134310?v=4","gravatar_id":"","url":"https://api.github.com/users/naveen010","html_url":"https://github.com/naveen010","followers_url":"https://api.github.com/users/naveen010/followers","following_url":"https://api.github.com/users/naveen010/following{/other_user}","gists_url":"https://api.github.com/users/naveen010/gists{/gist_id}","starred_url":"https://api.github.com/users/naveen010/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveen010/subscriptions","organizations_url":"https://api.github.com/users/naveen010/orgs","repos_url":"https://api.github.com/users/naveen010/repos","events_url":"https://api.github.com/users/naveen010/events{/privacy}","received_events_url":"https://api.github.com/users/naveen010/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-04-11T09:13:09Z","updated_at":"2018-04-11T09:13:09Z","closed_at":null,"author_association":"NONE","body":"I am trying to add a gripper with 1dof joint to an arm and run it with Moveit. Below are the changes i made and when run the robot in gazebo, i´m getting this error.\r\n![gripper_cmd issue](https://user-images.githubusercontent.com/38134310/38605573-067d08d8-3d74-11e8-8d47-7cdf72c83765.png)\r\n\r\nChanges I made:\r\n1. After i cloned and built the gripper_action_controller  package, the only change i made in the package is the gripper joint name.\r\n2. To add to moveit, as suggested in #302 , in moveit config yaml file for controllers i added:\r\n  - name: gripper_controller\r\n    action_ns: gripper_cmd\r\n    type: GripperCommand\r\n    default: true\r\n    joints:\r\n      - gripper_joint\r\n\r\n3. and to the controller configuration yaml file to launch robot in gazebo, for gripper controller, i added the below code which is given as an example configuration in one of the files in the gripper_action_controller package itself:\r\n  gripper_controller:\r\n  type: position_controllers/GripperActionController\r\n  joint: gripper_joint\r\n  goal_tolerance: 0.01\r\n  stalled_velocity_threshold: 0.01\r\n  stall_timeout: 0.2\r\n  gains:\r\n    gripper_joint: {p: 200, d: 1, i: 5, i_clamp: 1} \r\nand launched in the default_controllers calling the above yaml file.\r\n\r\nI am not sure where exactly is the source of the error that causes the action client not to connect. Could i be missing something ? Do i need to make more changes either in the gripper_ or other packages ?. I am new to this stuff and really need help."}}
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