Franka Gripper position

[luarss]

Hi, I was wondering if it is possible to obtain the franka gripper position from the RobotState topic (https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html), or from any other topics?

I have searched through the documentation and the closest I found was joint position (q), which was only the seven main joints. Any help is appreciated.

Thanks!

[luarss]

Closing this because I found the answer, it is in the franka_gripper/joint_states topic.

https://frankaemika.github.io/docs/franka_ros.html#franka-gripper