From b1596231afa10641a4e862f1416807cb06ad97c7 Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Fri, 20 Mar 2026 09:24:00 +0100
Subject: [PATCH] updates to run the Kinova site config

---
 src/external_dependencies/ros2_kortex                           | 2 +-
 .../kinova_gen3_site_config/config/moveit/kinova_gen3.srdf      | 2 +-
 .../kinova_gen3_site_config/description/kinova_gen3.xacro       | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/external_dependencies/ros2_kortex b/src/external_dependencies/ros2_kortex
index 346cd79c4..732b96f99 160000
--- a/src/external_dependencies/ros2_kortex
+++ b/src/external_dependencies/ros2_kortex
@@ -1 +1 @@
-Subproject commit 346cd79c4ff8562f17aba2ede75661612730f393
+Subproject commit 732b96f99c8e62849450572f65b649c687fd875f
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
index e275ab5c8..3491f14a1 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/moveit/kinova_gen3.srdf
@@ -43,7 +43,7 @@
         <joint name="robotiq_85_right_knuckle_joint" value="-0.7929"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="gripper_attachment_link" group="gripper"/>
+    <end_effector name="moveit_ee" parent_link="grasp_link" group="gripper"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link"/>
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
index b43afd08a..970ccefd3 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/description/kinova_gen3.xacro
@@ -50,6 +50,7 @@
     use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
     use_fake_hardware="$(arg use_fake_hardware)"
     fake_sensor_commands="$(arg fake_sensor_commands)"
+    gripper="$(arg robotiq_gripper)"
     gripper_joint_name="$(arg gripper_joint_name)"
     gripper_max_velocity="$(arg gripper_max_velocity)"
     gripper_max_force="$(arg gripper_max_force)"