9 #include <control_msgs/GripperCommandAction.h> 15 #include <franka_gripper/GraspAction.h> 16 #include <franka_gripper/HomingAction.h> 17 #include <franka_gripper/MoveAction.h> 18 #include <franka_gripper/StopAction.h> 48 const GraspEpsilon& grasp_epsilon,
51 const control_msgs::GripperCommandGoalConstPtr& goal);
bool move(const franka::Gripper &gripper, const MoveGoalConstPtr &goal)
Calls the libfranka move service of the gripper.
bool stop(const franka::Gripper &gripper, const StopGoalConstPtr &)
Calls the libfranka stop service of the gripper to stop applying force.
bool homing(const franka::Gripper &gripper, const HomingGoalConstPtr &)
Calls the libfranka homing service of the gripper.
void gripperCommandExecuteCallback(const franka::Gripper &gripper, const GraspEpsilon &grasp_epsilon, double default_speed, actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *action_server, const control_msgs::GripperCommandGoalConstPtr &goal)
Wraps the execution of a gripper command action to catch exceptions and report results.
bool updateGripperState(const franka::Gripper &gripper, franka::GripperState *state)
Reads a gripper state if possible.
bool grasp(const franka::Gripper &gripper, const GraspGoalConstPtr &goal)
Calls the libfranka grasp service of the gripper.