Class GripperActionServer
Defined in File gripper_action_server.hpp
Inheritance Relationships
Base Type
public rclcpp::Node
Class Documentation
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class GripperActionServer : public rclcpp::Node
ROS node that offers multiple actions to use the gripper.
Public Types
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using Homing = franka_msgs::action::Homing
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using Move = franka_msgs::action::Move
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using Grasp = franka_msgs::action::Grasp
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using GripperCommand = control_msgs::action::GripperCommand
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using GoalHandleGripperCommand = rclcpp_action::ServerGoalHandle<GripperCommand>
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using Trigger = std_srvs::srv::Trigger
Public Functions
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explicit GripperActionServer(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
creates an instance of a GripperActionServer
- Parameters:
options – options for node initialization
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using Homing = franka_msgs::action::Homing