async gripper command sender

node.py

@@ -7,6 +7,7 @@ from sensor_msgs.msg import JointState
 from utils import RobotClient
 import time
 from main import config, HOST, PORT
+import asyncio
 
 
 class RobotControllerNode(Node):
@@ -39,6 +40,12 @@ class RobotControllerNode(Node):
         self.last_js = msg
 
     def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
+        # Создаем и запускаем асинхронную задачу
+        return asyncio.get_event_loop().run_until_complete(
+            self.send_gripper_command_async(target_pose, tolerance, timeout)
+        )
+
+    async def send_gripper_command_async(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
         msg = Float64MultiArray()
         msg.data = [target_pose]
         self.pub.publish(msg)