message: FIX: Reject grasping goals, when goal width is too open
diff: @@ -166,6 +166,14 @@ bool FrankaGripperSim::init(hardware_interface::EffortJointInterface* hw, ros::N
  ROS_INFO_STREAM_NAMED("FrankaGripperSim",
  "New Grasp Action Goal received: " << goal->force << "N");
  + if (goal->width >= kMaxFingerWidth or goal->width < 0) {
  + franka_gripper::GraspResult result;
  + result.success = static_cast<decltype(result.success)>(false);
  + result.error = "Can only grasp inside finger width from [0 .. " +
  + std::to_string(kMaxFingerWidth) + "[";
  + action_grasp_->setAborted(result, result.error);
  + return;
  + }
  if (goal->speed < 0) {
  franka_gripper::GraspResult result;
  result.success = static_cast<decltype(result.success)>(false);
  