Fix gripper node naming to use robot_type for correct topic/action prefixes#206
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Benkess wants to merge 1 commit intofrankarobotics:humblefrom
Open
Fix gripper node naming to use robot_type for correct topic/action prefixes#206Benkess wants to merge 1 commit intofrankarobotics:humblefrom
Benkess wants to merge 1 commit intofrankarobotics:humblefrom
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…efixes Signed-off-by: Ben Kessler <BenPKessler@gmail.com>
BarisYazici
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Mar 2, 2026
…r deps Merge in MOCTRL/franka_ros2 from fix-missed-mobile-sensor-deps to jazzy * commit '57bc9031361b4dfaa1daff053c34568a1ebcf7ac': docs: Added docu link to the 'mobile_sensors' package add: docu for franka_mobile_sensors package fix: franka_mobile_sensors formatting and linting issues fix: The docker build was missing the mobile_sensor deps
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Summary
This pull request fixes
franka_gripper/launch/gripper.launch.pyto follow the intended gripper node naming convention by deriving the node name fromrobot_type.The gripper node name is now generated as
<robot_type>_gripperinstead of being hard-coded tofranka_gripper.Motivation
The gripper node publishes topics and actions using private (
~) names, so the node name determines the effective topic/action prefix. After the introduction of robot namespacing, the gripper node name was no longer aligned withrobot_type, which caused:franka_gripper/*fr3_gripper/*/joint_states, causing MoveIt to report the gripper as always closedChanges
franka_gripperto<robot_type>_gripperfr3_gripper/...for FR3)/joint_states