Update antipodal_gripper_controller/include/antipodal_gripper_control…

…ler/antipodal_gripper_action_controller.hpp Co-authored-by: Marq Rasmussen <[email protected]>
ros-controls · Feb 6, 2024 · 5a11b3e · 5a11b3e
1 parent 1d2f8b0
commit 5a11b3e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...r_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp b/...r_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
@@ -62,9 +62,9 @@ class GripperActionController : public controller_interface::ControllerInterface
    */
   struct Commands
   {
-    double position_;         // Last commanded position
-    double target_velocity_;  // Desired gripper velocity
-    double max_effort_;       // Max allowed effort
+    double position_cmd;    // Commanded position
+    double max_velocity_;  // Desired max gripper velocity
+    double max_effort_;      // Desired max allowed effort
   };
 
   GRIPPER_ACTION_CONTROLLER_PUBLIC GripperActionController();