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))