def gripper_action_client():
gripper_client = actionlib.SimpleActionClient('xm_move_gripper', xm_GripperCommandAction)
rospy.loginfo("Waiting for xm_move_gripper action server")
gripper_client.wait_for_server()
rospy.loginfo("Connected to xm_move_gripper action server")
gripper_goal = xm_GripperCommandGoal()
gripper_goal.command.position = 0.05
gripper_goal.command.torque = 0.5
rospy.loginfo("Preparing for sending goal to the action server")
gripper_client.send_goal(gripper_goal)
gripper_client.wait_for_result()
rospy.loginfo("Send goal to the action server successfully!")
return gripper_client.get_result()
def gripper_action_client():
gripper_client = actionlib.SimpleActionClient('xm_move_gripper',
xm_GripperCommandAction)
rospy.loginfo("Waiting for xm_move_gripper action server")
gripper_client.wait_for_server()
rospy.loginfo("Connected to xm_move_gripper action server")
gripper_goal = xm_GripperCommandGoal()
gripper_goal.command.position = 0.05
gripper_goal.command.torque = 0.5
rospy.loginfo("Preparing for sending goal to the action server")
gripper_client.send_goal(gripper_goal)
gripper_client.wait_for_result()
rospy.loginfo("Send goal to the action server successfully!")
return gripper_client.get_result()
def __init__(self):
rospy.init_node("test_gripper_smach", anonymous=False)
gripper_goal = xm_GripperCommandGoal()
gripper_goal.command.position = 0.10
gripper_goal.command.torque = 0.5
gripper_state = SimpleActionState(
"xm_move_gripper",
xm_GripperCommandAction,
goal=gripper_goal,
result_cb=self.gripper_state_cb,
exec_timeout=rospy.Duration(10),
server_wait_timeout=rospy.Duration(10),
)
self.gripper_smach = StateMachine(outcomes=["succeeded", "aborted", "preempted"])
with self.gripper_smach:
StateMachine.add(
"GRIPPER_OPEN", gripper_state, transitions={"succeeded": "", "aborted": "", "preempted": ""}
)
gripper_outcome = self.gripper_smach.execute()
rospy.loginfo("State Machine Outcome: " + str(gripper_outcome))
def __init__(self):
rospy.init_node('test_gripper_smach', anonymous=False)
gripper_goal = xm_GripperCommandGoal()
gripper_goal.command.position = 0.10
gripper_goal.command.torque = 0.5
gripper_state = SimpleActionState(
'xm_move_gripper',
xm_GripperCommandAction,
goal=gripper_goal,
result_cb=self.gripper_state_cb,
exec_timeout=rospy.Duration(10),
server_wait_timeout=rospy.Duration(10))
self.gripper_smach = StateMachine(
outcomes=['succeeded', 'aborted', 'preempted'])
with self.gripper_smach:
StateMachine.add('GRIPPER_OPEN',
gripper_state,
transitions={
'succeeded': '',
'aborted': '',
'preempted': ''
})
gripper_outcome = self.gripper_smach.execute()
rospy.loginfo('State Machine Outcome: ' + str(gripper_outcome))
