From 147c602b0236fb6c1674ee63da1c72388b9dfd1f Mon Sep 17 00:00:00 2001
From: Lennart Nachtigall <firesurfer127@gmail.com>
Date: Tue, 23 May 2023 21:09:50 +0200
Subject: [PATCH] added missing handback interface - ros2control mock interface
 wont work otherwise (#68)

Co-authored-by: Lennart Nachtigall <lennart.nachtigall@sci-mo.de>
---
 urdf/ur.ros2_control.xacro | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index b5beeed..37bf66d 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -302,6 +302,11 @@
           <command_interface name="resend_robot_program_async_success"/>
         </gpio>
 
+        <gpio name="${tf_prefix}hand_back_control">
+          <command_interface name="hand_back_control_cmd"/>
+          <command_interface name="hand_back_control_async_success"/>
+        </gpio>
+
         <gpio name="${tf_prefix}zero_ftsensor">
           <command_interface name="zero_ftsensor_cmd"/>
           <command_interface name="zero_ftsensor_async_success"/>