message: Adapted grasp epsilon to use Gripper::GraspEpsilon
diff: @@ -44,8 +44,9 @@ void gripperCommandExecuteCallback(
  if (goal->command.position >= state.width) {
  return gripper.move(goal->command.position, default_speed);
  }
  - return gripper.grasp(goal->command.position, default_epsilon_inner, default_epsilon_outer,
  - default_speed, goal->command.max_effort);
  + franka::Gripper::GraspEpsilon epsilon{.inner = default_epsilon_inner,
  + .outer = default_epsilon_outer};
  + return gripper.grasp(goal->command.position, epsilon, default_speed, goal->command.max_effort);
  };
  try {
  @@ -80,8 +81,8 @@ bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/) {
  }
  bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal) {
  - return gripper.grasp(goal->width, goal->epsilon_inner, goal->epsilon_outer, goal->speed,
  - goal->force);
  + franka::Gripper::GraspEpsilon epsilon{.inner = goal->epsilon_inner, .outer = goal->epsilon_outer};
  + return gripper.grasp(goal->width, epsilon, goal->speed, goal->force);
  }
  } // namespace franka_gripper
  