//Action client initialization
Gripper(){
//Initialize the client for the Action interface to the gripper controller
//and tell the action client that we want to spin a thread by default
gripper_client_l_ = new GripperClient("l_gripper_sensor_controller/gripper_action",true);
place_client_l_ = new PlaceClient("l_gripper_sensor_controller/event_detector",true);
gripper_client_r_ = new GripperClient("r_gripper_sensor_controller/gripper_action",true);
place_client_r_ = new PlaceClient("r_gripper_sensor_controller/event_detector",true);
//wait for the gripper action server to come up
while(!gripper_client_r_->waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the r_gripper_sensor_controller/gripper_action action server to come up");
}
while(!place_client_r_->waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the r_gripper_sensor_controller/event_detector action server to come up");
}
//wait for the gripper action server to come up
while(!gripper_client_l_->waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the l_gripper_sensor_controller/gripper_action action server to come up");
}
while(!place_client_l_->waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the l_gripper_sensor_controller/event_detector action server to come up");
}
}
