PickNikRobotics · Abishalini · Aug 8, 2024 · Aug 7, 2024 · Aug 8, 2024 · Aug 8, 2024
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,7 @@
 [submodule "src/external_dependencies/ros2_robotiq_gripper"]
 	path = src/external_dependencies/ros2_robotiq_gripper
 	url = https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+	branch = humble
 [submodule "src/external_dependencies/picknik_accessories"]
 	path = src/external_dependencies/picknik_accessories
 	url = https://github.com/PickNikRobotics/picknik_accessories.git

diff --git a/src/external_dependencies/ros2_robotiq_gripper b/src/external_dependencies/ros2_robotiq_gripper
diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
@@ -55,7 +55,7 @@ hardware:
       - prefix: ""
       - use_fake_hardware: "true"
       - use_pinch_links: "true"
-      - fake_sensor_commands: "false"
+      - mock_sensor_commands: "false"
       - headless_mode: "true"
       - robot_ip: "0.0.0.0"
       - joint_limits_parameters_file:

diff --git a/src/picknik_ur_multi_arm_config/config/config.yaml b/src/picknik_ur_multi_arm_config/config/config.yaml
@@ -47,7 +47,7 @@ hardware:
       - prefix: ""
       - use_fake_hardware: "true"
       - use_pinch_links: "true"
-      - fake_sensor_commands: "false"
+      - mock_sensor_commands: "false"
       - headless_mode: "true"
       - robot_ip: "0.0.0.0"
       - joint_limits_parameters_file:
+2 −2		robotiq_description/urdf/2f_140.ros2_control.xacro
+2 −2		robotiq_description/urdf/2f_85.ros2_control.xacro
+2 −2		robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
+2 −2		robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro