From f66f5031799024c970867e625856aded9ee35b91 Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Mon, 4 Oct 2021 11:21:47 +0200
Subject: [PATCH] BREAKiNG CHANGE: Moves 'resting_threshold' and
 'consecutive_samples' to base ns

This commit mose the `resting_threshold` and `consecutive_samples` to
the base ns since they also apply to the `gripper_action` action server
(see #172).
---
 franka_gazebo/src/franka_gripper_sim.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/franka_gazebo/src/franka_gripper_sim.cpp b/franka_gazebo/src/franka_gripper_sim.cpp
index 96aca3de1..c9d4d32ca 100644
--- a/franka_gazebo/src/franka_gripper_sim.cpp
+++ b/franka_gazebo/src/franka_gripper_sim.cpp
@@ -29,8 +29,8 @@ bool FrankaGripperSim::init(hardware_interface::EffortJointInterface* hw, ros::N
   nh.param<double>("gripper_action/width_tolerance", this->tolerance_gripper_action_,
                    kDefaultGripperActionWidthTolerance);
   nh.param<double>("gripper_action/speed", this->speed_default_, kDefaultGripperActionSpeed);
-  nh.param<double>("grasp/resting_threshold", this->speed_threshold_, kGraspRestingThreshold);
-  nh.param<int>("grasp/consecutive_samples", this->speed_samples_, kGraspConsecutiveSamples);
+  nh.param<double>("resting_threshold", this->speed_threshold_, kGraspRestingThreshold);
+  nh.param<int>("consecutive_samples", this->speed_samples_, kGraspConsecutiveSamples);
 
   try {
     this->finger1_ = hw->getHandle(finger1);