def attach(): ''' Purpose: --- This function is used to activate gripper and if the box gets attached with drone it checks value of result and change the global variable grip_res=1 Input Arguments: --- None Returns: --- None ''' req = 0 resp = 0 activate = 0 rospy.wait_for_service('/edrone/activate_gripper') activate = rospy.ServiceProxy('/edrone/activate_gripper', Gripper) req = GripperRequest(True) resp = activate(req) GripperResponse(resp) global grip_res if(req.activate_gripper == True and resp.result == True): grip_res = 1
def dettach(): ''' Purpose: --- This function is used to deactivate gripper and dettached box with drone Input Arguments: --- None Returns: --- None ''' req = 0 resp = 0 activate = 0 rospy.wait_for_service('/edrone/activate_gripper') activate = rospy.ServiceProxy('/edrone/activate_gripper', Gripper) req = GripperRequest(False) resp = activate(req) GripperResponse(resp)
def activate_gripper(self, shall_i): rospy.wait_for_service('/edrone/activate_gripper') act_gripper = rospy.ServiceProxy('/edrone/activate_gripper', Gripper) req = GripperRequest(shall_i) resp = act_gripper(req)