6 #ifndef ROBOTIQ_2F_GRIPPER_ACTION_SERVER_H 7 #define ROBOTIQ_2F_GRIPPER_ACTION_SERVER_H 14 #include <control_msgs/GripperCommandAction.h> 16 #include <robotiq_2f_gripper_control/Robotiq2FGripper_robot_input.h> 17 #include <robotiq_2f_gripper_control/Robotiq2FGripper_robot_output.h> 23 typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input
GripperInput;
24 typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output
GripperOutput;
60 void analysisCB(
const GripperInput::ConstPtr& msg);
63 void issueActivation();
control_msgs::GripperCommandResult GripperCommandResult
robotiq_2f_gripper_control::Robotiq2FGripper_robot_output GripperOutput
ros::Subscriber state_sub_
GripperInput current_reg_state_
robotiq_2f_gripper_control::Robotiq2FGripper_robot_input GripperInput
GripperOutput goal_reg_state_
control_msgs::GripperCommandFeedback GripperCommandFeedback
actionlib::SimpleActionServer< control_msgs::GripperCommandAction > as_
control_msgs::GripperCommandGoal GripperCommandGoal
The Robotiq2FGripperActionServer class. Takes as arguments the name of the gripper it is to command...
Structure containing the parameters necessary to translate GripperCommand actions to register-based c...
Robotiq2FGripperParams gripper_params_