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open_gripper.py
Go to the documentation of this file.
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#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2017 Svenzva Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of University of Arizona nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import
rospy
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import
rospkg
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import
actionlib
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import
yaml
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from
std_msgs.msg
import
Bool
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from
svenzva_msgs.msg
import
*
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from
trajectory_msgs.msg
import
JointTrajectoryPoint
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from
control_msgs.msg
import
JointTrajectoryAction, JointTrajectoryGoal, FollowJointTrajectoryAction, FollowJointTrajectoryGoal
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from
sensor_msgs.msg
import
JointState
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from
std_msgs.msg
import
Int32
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from
collections
import
deque
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rospy.init_node(
'svenzva_pick_place_demo'
, anonymous=
False
)
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gripper_client =
actionlib.SimpleActionClient
(
'/revel/gripper_action'
, GripperAction)
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gripper_client.wait_for_server()
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rospy.loginfo(
"Found Revel gripper action server"
)
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goal = GripperGoal()
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goal.target_action = goal.OPEN
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gripper_client.send_goal(goal)
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rospy.loginfo(
"Sent gripper command: OPEN"
)
actionlib::SimpleActionClient
msg
svenzva_utils
Author(s): Max Svetlik
autogenerated on Wed Oct 28 2020 03:31:33