close_gripper.py

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#!/usr/bin/env python
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import rospy
import rospkg
import actionlib
import yaml
from std_msgs.msg import Bool
from svenzva_msgs.msg import *
from trajectory_msgs.msg import JointTrajectoryPoint
from control_msgs.msg import JointTrajectoryAction, JointTrajectoryGoal, FollowJointTrajectoryAction,            FollowJointTrajectoryGoal
from sensor_msgs.msg import JointState
from std_msgs.msg import Int32
from collections import deque

rospy.init_node('svenzva_pick_place_demo', anonymous=False)
gripper_client = actionlib.SimpleActionClient('/revel/gripper_action', GripperAction)
gripper_client.wait_for_server()
rospy.loginfo("Found Revel gripper action server")

goal = GripperGoal()

goal.target_current = 500
goal.target_action = goal.CLOSE
gripper_client.send_goal(goal)

rospy.loginfo("Sent gripper command: CLOSE")