task main() { initializeRobot(); while (true) { // Get current joystick buttons and analog movements getJoystickSettings(joystick); // Move robot moveArcade(); // Move arm moveArm(); // Move gripper moveGripper(); } }
bool openGripperCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response){ gripper_is_closed = false; return moveGripper(opened_pos); }
bool moveGripperCallback(omnirob_robin_msgs::move_gripper::Request& request, omnirob_robin_msgs::move_gripper::Response& response){ response.success = true; return moveGripper(request.stroke); }
bool closeGripperCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response){ gripper_is_closed = true; return moveGripper(closed_pos); }