From: Erik Andresen <erik@vontaene.de>
Date: Sun, 12 Apr 2020 21:25:01 +0000 (+0200)
Subject: increase gripper joint limit
X-Git-Url: https://defiant.homedns.org/gitweb/?p=wt_open_manipulator.git;a=commitdiff_plain;h=daa8e7ab9ac102a671c4cdd74f52004960f4fe45

increase gripper joint limit
---

diff --git a/include/open_manipulator_i2c.h b/include/open_manipulator_i2c.h
index 5a9040c..da6d18e 100644
--- 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;