def callback_service_on_request(self, req):
rospy.loginfo('\033[94m' + " >>> Gripper Activate: {}".format(req.activate_gripper) + '\033[0m')
rospy.loginfo('\033[94m' + " >>> Gripper Flag Pickable: {}".format(self.pickable_flag) + '\033[0m')
if((req.activate_gripper == True) and (self.pickable_flag == 'True') ):
self.activate_gripper()
return GripperResponse(True)
else:
self.deactivate_gripper()
return GripperResponse(False)
def callback_service_on_request(self, req):
pickable, box_name = self.check()
rospy.loginfo('\033[94m' + " >>> Gripper Activate: {}".format(req.activate_gripper) + '\033[0m')
rospy.loginfo('\033[94m' + " >>> Gripper Flag Pickable: {}".format(str(pickable)) + '\033[0m')
if pickable:
if(req.activate_gripper is True):
self.activate_gripper(box_name)
return GripperResponse(True)
else:
self.deactivate_gripper(box_name)
return GripperResponse(False)
else:
return GripperResponse(False)
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 check_pick_gripper(self):
'''
Purpose:
---
Function to check if gripper status is true or not and requests for gripping when available.
Input Arguments:
---
None
Returns:
---
None
Example call:
---
self.check_pick_gripper()
'''
# print(self.gripper)
while self.gripper == False:
rospy.logwarn("gripping unavailable")
continue
# Fetching Gripper Response
res = GripperResponse()
# if grip is successsful
while not res.result:
res = self.gripper_srv(True)
rospy.loginfo("Pick up successful")
self.isLoaded = True
def check_pick_gripper(self):
print(self.gripper)
while self.gripper == False:
rospy.logwarn("gripping unavailable")
continue
res = GripperResponse()
while not res.result:
res = self.gripper_srv(True)
rospy.loginfo("Pick up successful")
self.isLoaded = True
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)