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)