increase gripper joint limit

[wt_open_manipulator.git] / include / open_manipulator_i2c.h

diff --git a/include/open_manipulator_i2c.h b/include/open_manipulator_i2c.h
index 5a9040ca658f99becca91ca60079c11abebe51e4..da6d18ee911494cf8751589df2a94c32c9a8a440 100644 (file)
--- a/include/open_manipulator_i2c.h
+++ b/include/open_manipulator_i2c.h
@@ -174,7 +174,7 @@ class WtOpenManipulatorI2C : public hardware_interface::RobotHW
                                }
 
                                // gripper
-                               if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.010) {
+                               if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.019) {
                                        ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write.");
                                } else {
                                        value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048;