message: Updated grasp call.
diff: @@ -43,9 +43,8 @@ void gripperCommandExecuteCallback(
  if (goal->command.position >= state.width) {
  return gripper.move(goal->command.position, default_speed);
  }
  - franka::Gripper::GraspEpsilon epsilon{.inner = grasp_epsilon.inner,
  - .outer = grasp_epsilon.outer};
  - return gripper.grasp(goal->command.position, epsilon, default_speed, goal->command.max_effort);
  + return gripper.grasp(goal->command.position, default_speed, goal->command.max_effort,
  + grasp_epsilon.inner, grasp_epsilon.outer);
  };
  try {
  @@ -80,8 +79,8 @@ bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/) {
  }
  bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal) {
  - franka::Gripper::GraspEpsilon epsilon{.inner = goal->epsilon.inner, .outer = goal->epsilon.outer};
  - return gripper.grasp(goal->width, epsilon, goal->speed, goal->force);
  + return gripper.grasp(goal->width, goal->speed, goal->force, goal->epsilon.inner,
  + goal->epsilon.outer);
  }
  } // namespace franka_gripper
  