Description

At some point, ros2_controllers deprecated position_controllers/GripperActionController (and its associated action control_msgs/GripperCommand), and using it now gives this message:

[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller

However, parallel_gripper_controllers/GripperActionController uses the action control_msgs/ParallelGripperCommand, which has not yet been added to MoveItSimpleControllerManager, so trying to use it gives an error.

ROS Distro

Jazzy

OS and version

Ubuntu 24.04

Source or binary build?

Binary

If binary, which release version?

2.10.0

If source, which branch?

No response

Which RMW are you using?

FastRTPS

Steps to Reproduce

Create a moveit_controllers.yaml with type: ParallelGripperCommand:

/**:
  ros__parameters:
    moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
    moveit_simple_controller_manager:
      controller_names:
        - some_controller

      some_controller:
        action_ns: gripper_cmd
        type: ParallelGripperCommand
        default: true
        max_effort: 1000.0
        joints:
          - some_joint

Expected behavior

MoveIt comes up and can command the gripper.

Actual behavior

MoveIt throws an error and none of the MoveItSimpleControllerManager controllers come up.

Backtrace or Console output

[move_group-7] [ERROR] [1727825074.412220666] [move_group.moveit.moveit.plugins.simple_controller_manager]: Unknown controller type: ParallelGripperCommand