Add a test for the gripper's gripper_control action

Also add meaningful values for `max_grip_force`, `min_grip_force`,
`max_vel`, and `min_vel` (EGK 40).

schunk_egu_egk_gripper_dummy/config/data.json

@@ -72,19 +72,19 @@
         "00000000"
     ],
     "0x0628": [
-        "40B00000"
+        "0000B040"
     ],
     "0x0630": [
-        "42E60000"
+        "0000E642"
     ],
     "0x0650": [
         "41B00000"
     ],
     "0x0658": [
-        "42960000"
+        "00009642"
     ],
     "0x0660": [
-        "43160000"
+        "0000B442"
     ],
     "0x06A8": [
         "00000000"

schunk_egu_egk_gripper_tests/test/test_actions.py

@@ -8,6 +8,7 @@
     MoveToRelativePosition,
     ReleaseWorkpiece,
 )
+from control_msgs.action import GripperCommand
 
 
 @pytest.mark.launch(fixture=launch_description)
@@ -57,6 +58,25 @@ def test_driver_grips_with_position(running_driver):
     assert action.result.workpiece_lost is False
 
 
+@pytest.mark.launch(fixture=launch_description)
+def test_driver_supports_gripper_control(running_driver):
+
+    runs = [
+        {"position": 0.0, "max_effort": 77.0},  # grip workpiece
+        {"position": 82.4, "max_effort": 0.0},  # move to abs. position
+        {"position": 66.3, "max_effort": 85.1},  # grip with position
+    ]
+
+    for run in runs:
+        goal = GripperCommand.Goal()
+        goal.command.position = run["position"]
+        goal.command.max_effort = run["max_effort"]
+        action = ActionReturnsResult("/gripper_control", GripperCommand, goal)
+        action.event.wait()
+        assert action.result.reached_goal
+        assert action.result.stalled
+
+
 @pytest.mark.launch(fixture=launch_description)
 def test_driver_moves_to_absolute_position(running_driver):
     test_positions = [43.55, 17.02, 38.55, 103.7]