def _update_gripper_stat(self, dev=0):
stat = GripperStat()
stat.header.stamp = rospy.get_rostime()
stat.header.seq = self._seq[dev]
stat.is_ready = self._gripper.is_ready(dev)
stat.is_reset = self._gripper.is_reset(dev)
stat.is_moving = self._gripper.is_moving(dev)
stat.obj_detected = self._gripper.object_detected(dev)
stat.fault_status = self._gripper.get_fault_status(dev)
stat.position = self._gripper.get_pos(dev)
stat.requested_position = self._gripper.get_req_pos(dev)
stat.current = self._gripper.get_current(dev)
self._seq[dev] += 1
return stat
def _update_gripper_stat(self, position):
stat = GripperStat()
stat.header.stamp = rospy.get_rostime()
stat.header.seq = self._seq
stat.is_ready = self._driver_ready
stat.is_reset = False
stat.is_moving = False
stat.obj_detected = False
stat.fault_status = self._driver_state
stat.position = position
stat.requested_position = position
stat.current = 0
self._seq += 1
return stat
def _update_gripper_stat(self,dev=0):
stat = GripperStat()
stat.header.stamp = rospy.get_rostime()
stat.header.seq = self._seq[dev]
stat.is_ready = self._gripper.is_ready(dev)
stat.is_reset = self._gripper.is_reset(dev)
stat.is_moving = self._gripper.is_moving(dev)
stat.obj_detected = self._gripper.object_detected(dev)
stat.fault_status = self._gripper.get_fault_status(dev)
stat.position = self._gripper.get_pos(dev)
stat.requested_position = self._gripper.get_req_pos(dev)
stat.current = self._gripper.get_current(dev)
self._seq[dev]+=1
return stat
def _create_gripper_stat_msg(self, dev):
"""
create a GripperState ROS message based on current status of gripper
"""
stat = GripperStat()
stat.header.stamp = rospy.get_rostime()
stat.header.seq = self._seq[dev]
stat.is_ready = self._gripper.is_ready(dev)
stat.is_reset = self._gripper.is_reset(dev)
stat.is_moving = self._gripper.is_moving(dev)
stat.obj_detected = self._gripper.object_detected(dev)
stat.fault_status = self._gripper.get_fault_status(dev)
stat.position = self._gripper.get_pos(dev)
stat.requested_position = self._gripper.get_req_pos(dev)
stat.current = self._gripper.get_current(dev)
self._seq[dev] += 1
return stat