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async gripper command sender

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This commit is contained in:
Ilya Uraev 2025-05-23 20:07:28 +03:00
parent 2165c48415
commit d506f35cf4
1 changed files with 7 additions and 0 deletions
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7
node.py
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@ -7,6 +7,7 @@ from sensor_msgs.msg import JointState
from utils import RobotClient from utils import RobotClient
import time import time
from main import config, HOST, PORT from main import config, HOST, PORT
import asyncio
class RobotControllerNode(Node): class RobotControllerNode(Node):
@ -39,6 +40,12 @@ class RobotControllerNode(Node):
self.last_js = msg self.last_js = msg
def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0): 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 = Float64MultiArray()
msg.data = [target_pose] msg.data = [target_pose]
self.pub.publish(msg) self.pub.publish(msg)