def on_gripper_home_pressed(self):
message = GripperControlMessage()
message.gripper_mode = 2
message.gripper_position_absolute = -1
message.should_home = True
self.gripper_control_publisher.publish(message)
def send_gripper_home_on_back_press(self):
gripper_control_message = GripperControlMessage()
back_state = self.controller.controller_states["back_button"]
if self.last_back_button_state == 0 and back_state == 1:
gripper_control_message.should_home = True
self.gripper_control_publisher.publish(gripper_control_message)
self.last_back_button_state = 1
elif self.last_back_button_state == 1 and back_state == 0:
self.last_back_button_state = 0