close_grippers.py

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#!/usr/bin/env python
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# Author: Bhaskara Marthi

import roslib; roslib.load_manifest('articulate_cart')
import rospy
import actionlib
from pr2_controllers_msgs.msg import Pr2GripperCommandAction, Pr2GripperCommandGoal
import move_base_msgs.msg
import geometry_msgs.msg

class CloseGrippers:

    def __init__(self):
        self.goal_received = False
        self.goal_sub = rospy.Subscriber('move_base/goal', move_base_msgs.msg.MoveBaseActionGoal, self.goal_cb)
        self.pose_sub = rospy.Subscriber('/initialpose', geometry_msgs.msg.PoseWithCovarianceStamped, self.pose_cb)

    def goal_cb(self, msg):
        if not self.goal_received:
            rospy.loginfo('Closing grippers now that a goal has been received')
            self.goal_received = True
        
    def pose_cb(self, msg):
        if not self.goal_received:
            rospy.loginfo('Closing grippers')
            self.goal_received = True

    def spin(self):
        l_client = actionlib.SimpleActionClient('l_gripper_controller/gripper_action', Pr2GripperCommandAction)
        r_client = actionlib.SimpleActionClient('r_gripper_controller/gripper_action', Pr2GripperCommandAction)
        l_client.wait_for_server()
        r_client.wait_for_server()

        goal = Pr2GripperCommandGoal()
        goal.command.position = 0.0
        goal.command.max_effort = 100.0


        while not rospy.is_shutdown():
            if self.goal_received:
                l_client.send_goal(goal)
                r_client.send_goal(goal)
                l_client.wait_for_result()
                r_client.wait_for_result()
            rospy.sleep(1)


def main():
    rospy.init_node('close_grippers')
    node = CloseGrippers()
    rospy.loginfo('close_grippers initialized')
    node.spin()

    


if __name__ == "__main__":
    main()