def get_current_gripper_status(self):
"""
Public function to obtain the current gripper status.
Returns: Instance of `robotiq_2f_gripper_msgs/RobotiqGripperStatus` message. See the message declaration for fields description
"""
status = RobotiqGripperStatus()
status.header.stamp = rospy.get_rostime()
status.header.seq = self._seq
status.is_ready = self._gripper.is_ready()
status.is_reset = self._gripper.is_reset()
status.is_moving = self._gripper.is_moving()
status.obj_detected = self._gripper.object_detected()
status.fault_status = self._gripper.get_fault_status()
status.position = self._gripper.get_pos()
status.requested_position = self._gripper.get_req_pos()
status.current = self._gripper.get_current()
return status
def get_current_gripper_status(self):
"""
Public function to obtain the current gripper status.
Returns: Instance of `robotiq_2f_gripper_msgs/RobotiqGripperStatus` message. See the message declaration for fields description
"""
status = RobotiqGripperStatus()
status.header.stamp = rospy.get_rostime()
status.header.seq = 0
status.is_ready = True
status.is_reset = False
status.is_moving = self._is_moving
status.obj_detected = False
status.fault_status = False
status.position = self.from_radians_to_distance(self._current_joint_pos) #[mm]
status.requested_position = self._current_goal.position #[mm]
status.current = 0.0
return status