def stop(self) -> bool:
"""Stops a currently running gripper move or grasp.
Args:
wait_for_result (bool): If True, this method will block until
response is recieved from server.
Returns:
bool: Whether command was successful.
"""
goal = StopGoal()
self._stop_action_client.send_goal(goal)
return self._stop_action_client.wait_for_result(rospy.Duration(15.0))
def stop_action(self):
"""
Stops a currently running gripper move or grasp.
:return: True if command was successful, False otherwise.
:rtype: bool
"""
self._caller = "stop_action"
goal = StopGoal()
self._stop_action_client.send_goal(goal,
done_cb=self._done_cb,
active_cb=self._active_cb,
feedback_cb=self._feedback_cb)
result = self._stop_action_client.wait_for_result(rospy.Duration(15.))
return result
def _done_cb(status, result):
rospy.loginfo("GripperInterface: '{}' complete. Result: \n\t{}".format(
_caller, result))
if __name__ == '__main__':
rospy.init_node("gripper_stop_node")
_caller = "stop_gripper"
stop_action_client = actionlib.SimpleActionClient(
"/franka_ros_interface/franka_gripper/stop", StopAction)
stop_action_client.wait_for_server()
stop_action_client.send_goal(StopGoal(),
done_cb=_done_cb,
active_cb=_active_cb,
feedback_cb=_feedback_cb)
result = stop_action_client.wait_for_result(rospy.Duration(15.))
parser = argparse.ArgumentParser(
"Stop current gripper action; Open or close gripper.")
gripper_group = parser.add_mutually_exclusive_group(required=False)
gripper_group.add_argument("-o",
"--open",
dest="open",
action='store_true',
default=False,