def actionCb(self, goal): """ Take an input command of width to open gripper. """ rospy.loginfo('Gripper controller action goal recieved:%f' % goal.command.position) command = goal.command.position # publish msgs cmsg = GripperCmd(); pos = command; if pos>0.08: cmsg.position = 0.08 - pos/10; else: cmsg.position = 0.08 - pos; #cmsg.position = 0.8 - command cmsg.speed = 0.06 cmsg.force = 100.0 cmsg.emergency_release = bool(0) #cmsg.emergency_release_dir = 0 #cmsg.stop = 0 self.r_pub.publish(cmsg) rospy.sleep(5.0) self.server.set_succeeded() rospy.loginfo('Gripper Controller: Done.')
def set_gripper(id, cmd): gripper_cmd = GripperCmd() gripper_cmd.force = 50.0 gripper_cmd.speed = 0.03 gripper_cmd.stop = False gripper_cmd.emergency_release = False gripper_cmd.emergency_release_dir = 0 if cmd == 'open': gripper_cmd.position = 0.75 elif cmd == 'close': gripper_cmd.position = 0.0 if id == 'left': left_gripper_pub.publish(gripper_cmd) elif id == "right": right_gripper_pub.publish(gripper_cmd)