//Close the gripper void close(){ pr2_controllers_msgs::Pr2GripperCommandGoal squeeze; squeeze.command.position = 0.0; squeeze.command.max_effort = -1.0; ROS_INFO("Sending squeeze goal"); gripper_client_->sendGoal(squeeze); gripper_client_->waitForResult(); if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED) ROS_INFO("The gripper closed!"); else ROS_INFO("The gripper failed to close."); }
//Open the gripper void open(){ pr2_controllers_msgs::Pr2GripperCommandGoal open; open.command.position = 0.08; open.command.max_effort = -1.0; ROS_INFO("Sending open goal"); gripper_client_->sendGoal(open); gripper_client_->waitForResult(); if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED) ROS_INFO("The gripper opened!"); else ROS_INFO("The gripper failed to open."); }
//Open the gripper bool open(){ pr2_controllers_msgs::Pr2GripperCommandGoal open; open.command.position = 0.08; open.command.max_effort = -1.0; // Do not limit effort (negative) ROS_INFO("Sending open goal"); gripper_client_->sendGoal(open); gripper_client_->waitForResult(); if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("The gripper opened!"); return true; } else { ROS_INFO("The gripper failed to open."); return false; } }