Class GripperActionServer

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class GripperActionServer : public rclcpp::Node

ROS node that offers multiple actions to use the gripper.

Public Types

using Homing = franka_msgs::action::Homing
using GoalHandleHoming = rclcpp_action::ServerGoalHandle<Homing>
using Move = franka_msgs::action::Move
using GoalHandleMove = rclcpp_action::ServerGoalHandle<Move>
using Grasp = franka_msgs::action::Grasp
using GoalHandleGrasp = rclcpp_action::ServerGoalHandle<Grasp>
using GripperCommand = control_msgs::action::GripperCommand
using GoalHandleGripperCommand = rclcpp_action::ServerGoalHandle<GripperCommand>
using Trigger = std_srvs::srv::Trigger

Public Functions

explicit GripperActionServer(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

creates an instance of a GripperActionServer

Parameters:

options – options for node initialization