Updated to last version of modules

config/tiago_dual_left_gripper_module_default.yaml

+gripper_module_rate_hz: 1.0
+
+grasp_num_retries: 1
+grasp_enabled: True
+
+move_num_retries: 1
+move_feedback_watchdog_time_s: 10.0
+move_enable_watchdog: True
+move_timeout_s: 5.0
+move_enable_timeout: True
+move_enabled: True
+
+close_dist: 0.01
+open_dist: 0.035
+default_duration: 1.0
+left_finger_frame_id: gripper_left_left_finger_joint
+right_finger_frame_id: gripper_left_right_finger_joint
+

config/tiago_dual_right_gripper_module_default.yaml

+gripper_module_rate_hz: 1.0
+
+grasp_num_retries: 1
+grasp_enabled: True
+
+move_num_retries: 1
+move_feedback_watchdog_time_s: 10.0
+move_enable_watchdog: True
+move_timeout_s: 5.0
+move_enable_timeout: True
+move_enabled: True
+
+close_dist: 0.01
+open_dist: 0.035
+default_duration: 1.0
+left_finger_frame_id: gripper_right_left_finger_joint
+right_finger_frame_id: gripper_right_right_finger_joint
+

config/tiago_gripper_module_default.yaml

@@ -6,7 +6,7 @@ grasp_enabled: True
 move_num_retries: 1
 move_feedback_watchdog_time_s: 10.0
 move_enable_watchdog: True
-move_timeout_s: 1.0
+move_timeout_s: 5.0
 move_enable_timeout: True
 move_enabled: True
 

launch/tiago_dual_left_gripper_bt_client.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="gripper_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_left_gripper_module_default.yaml" />
+  <arg name="gripper_action" default="/gripper_left_controller/follow_joint_trajectory"/>
+  <arg name="grasp_service" default="/parallel_gripper_left_controller/grasp"/>
+
+  <arg name="tree_path"          default="$(find tiago_gripper_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <node name="$(arg node_name)"
+        pkg="tiago_gripper_module"
+        type="tiago_gripper_bt_client"
+	output="$(arg output)"
+	launch-prefix="$(arg launch_prefix)">
+    <!--Actions-->
+    <remap from="~/gripper_module/gripper_trajectory"
+             to="$(arg gripper_action)"/>
+    <!--Services-->             
+    <remap from="~/gripper_module/grasp"
+             to="$(arg grasp_service)"/>
+    <!--Params-->
+    <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+    <param name="path"       value="$(arg tree_path)"/>
+    <param name="tree_xml_file"       value="$(arg tree_file)"/>
+    <param name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>

launch/tiago_dual_left_gripper_client.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="gripper_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_left_gripper_module_default.yaml" />
+  <arg name="gripper_action" default="/gripper_left_controller/follow_joint_trajectory"/>
+  <arg name="grasp_service" default="/parallel_gripper_left_controller/grasp"/>
+
+
+  <node name="$(arg node_name)"
+        pkg="tiago_gripper_module"
+        type="tiago_gripper_client"
+	output="$(arg output)"
+	launch-prefix="$(arg launch_prefix)">
+    <!--Actions-->
+    <remap from="~/gripper_module/gripper_trajectory"
+             to="$(arg gripper_action)"/>
+    <!--Services-->             
+    <remap from="~/gripper_module/grasp"
+             to="$(arg grasp_service)"/>
+    <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>

launch/tiago_dual_right_gripper_bt_client.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="gripper_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_right_gripper_module_default.yaml" />
+  <arg name="gripper_action" default="/gripper_right_controller/follow_joint_trajectory"/>
+  <arg name="grasp_service" default="/parallel_gripper_right_controller/grasp"/>
+
+  <arg name="tree_path"          default="$(find tiago_gripper_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <node name="$(arg node_name)"
+        pkg="tiago_gripper_module"
+        type="tiago_gripper_bt_client"
+	output="$(arg output)"
+	launch-prefix="$(arg launch_prefix)">
+    <!--Actions-->
+    <remap from="~/gripper_module/gripper_trajectory"
+             to="$(arg gripper_action)"/>
+    <!--Services-->             
+    <remap from="~/gripper_module/grasp"
+             to="$(arg grasp_service)"/>
+    <!--Params-->
+    <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+    <param name="path"       value="$(arg tree_path)"/>
+    <param name="tree_xml_file"       value="$(arg tree_file)"/>
+    <param name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>

launch/tiago_dual_right_gripper_client.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="gripper_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_dual_right_gripper_module_default.yaml" />
+  <arg name="gripper_action" default="/gripper_right_controller/follow_joint_trajectory"/>
+  <arg name="grasp_service" default="/parallel_gripper_right_controller/grasp"/>
+
+
+  <node name="$(arg node_name)"
+        pkg="tiago_gripper_module"
+        type="tiago_gripper_client"
+	output="$(arg output)"
+	launch-prefix="$(arg launch_prefix)">
+    <!--Actions-->
+    <remap from="~/gripper_module/gripper_trajectory"
+             to="$(arg gripper_action)"/>
+    <!--Services-->             
+    <remap from="~/gripper_module/grasp"
+             to="$(arg grasp_service)"/>
+    <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>

launch/tiago_gripper_bt_client.launch

@@ -5,7 +5,7 @@
   <arg name="launch_prefix" default="" />
   <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_gripper_module_default.yaml" />
   <arg name="gripper_action" default="/gripper_controller/follow_joint_trajectory"/>
-  <arg name="grasp_service" default="/gripper_controller/grasp"/>
+  <arg name="grasp_service" default="/parallel_gripper_controller/grasp"/>
 
   <arg name="tree_path"          default="$(find tiago_gripper_module)/src/xml" />
   <arg name="tree_file"          default="bt_test" />
@@ -17,13 +17,13 @@
 	output="$(arg output)"
 	launch-prefix="$(arg launch_prefix)">
     <!--Actions-->
-    <remap from="~/tiago_gripper_module/gripper_trajectory"
+    <remap from="~/gripper_module/gripper_trajectory"
              to="$(arg gripper_action)"/>
     <!--Services-->             
-    <remap from="~/tiago_gripper_module/grasp"
+    <remap from="~/gripper_module/grasp"
              to="$(arg grasp_service)"/>
     <!--Params-->
-    <rosparam file="$(arg config_file)" command="load" ns="tiago_gripper_module" />
+    <rosparam file="$(arg config_file)" command="load" ns="gripper_module" />
     <param name="path"       value="$(arg tree_path)"/>
     <param name="tree_xml_file"       value="$(arg tree_file)"/>
     <param name="bt_client_rate"  value="$(arg bt_client_rate)"/>

launch/tiago_gripper_client.launch

@@ -5,7 +5,7 @@
   <arg name="launch_prefix" default="" />
   <arg name="config_file" default="$(find tiago_gripper_module)/config/tiago_gripper_module_default.yaml" />
   <arg name="gripper_action" default="/gripper_controller/follow_joint_trajectory"/>
-  <arg name="grasp_service" default="/gripper_controller/grasp"/>
+  <arg name="grasp_service" default="/parallel_gripper_controller/grasp"/>
 
 
   <node name="$(arg node_name)"