working on jazzy; updated configs & readme example

Author: macmacal

README.md

@@ -47,11 +47,18 @@ source ./install/local_setup.sh
 ```bash
 ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_hardware:=true
 # In other terminal
-ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/GripperCommand \
-"command:
-  position: 0.0
-  max_effort: 0.0
+ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "command:
+  header:
+    stamp:
+      sec: 0
+      nanosec: 0
+    frame_id: ''
+  name: []
+  position: [0.0]
+  velocity: []
+  effort: []
 "
+
 ```
 
 ### Examples

robotiq_hande_driver/bringup/config/hande_controller.yaml

@@ -15,10 +15,14 @@
     ros__parameters:
       action_monitor_rate: 20.0 # Hz
       joint: $(var tf_prefix)robotiq_hande_left_finger_joint
-      max_effort: 10.0 # N
       goal_tolerance: 0.01 # m
       allow_stalling: false
-      stall_velocity_threshold: 0.001 #m/s
+      stall_velocity_threshold: 0.001 # m/s
       stall_timeout: 1.0 # s
+      max_effort_interface: ""
+      max_effort: 10.0 # N
+      max_velocity_interface: ""
+      max_velocity: 0.1 # m/s
       state_interfaces:
         - position
+        - velocity

robotiq_hande_driver/bringup/launch/gripper_controller_preview.launch.py

@@ -122,6 +122,12 @@ def prepare_robot_state_publisher_node() -> Node:
             " ",
             "use_fake_hardware:=",
             use_fake_hardware,
+            " ",
+            "create_socat_tty:=",
+            "true",
+            " ",
+            "ip_adress:=",
+            "aegis_ur"
         ]
     )
     return Node(