merge remote

ctrlgui/ctrlgui_node.py

@@ -23,7 +23,7 @@ from interfaces.action import ExecuteBtAction
 from interfaces.msg import SkillCall
 from interfaces.action import Arm
 from interfaces.srv import BtRebuild
-from interfaces.action import JzCmd
+from interfaces.action import GripperCmd
 import time
 
 
@@ -57,7 +57,7 @@ class CtrlGuiNode(Node):
             JointState, '/joint_states', self._on_joint_state, 10
         )
 
-        self.gripper_action_client_ = ActionClient(self, JzCmd, '/jz_cmd')
+        self.gripper_action_client_ = ActionClient(self, GripperCmd, '/gripper_cmd0')
 
         self.file_logger.info('CtrlGuiNode initialized')
         self.file_logger.info(f'Node started at: {self.start_time}')
@@ -109,8 +109,8 @@ class CtrlGuiNode(Node):
     def gripper_action_send_goal(self, id, loc, speed, torq, mode):
         """Callback to execute a Gripper action."""
         print("Start Gripper...")
-        gm = JzCmd.Goal()
-        gm.devid = int(id)
+        gm = GripperCmd.Goal()
+        # gm.devid = int(id)
         gm.loc = int(loc)
         gm.speed = int(speed)
         gm.torque = int(torq)