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Splinter1984 2022-04-01 01:36:48 +08:00
parent b5fad5156a
commit 6b7bfd7a71
33 changed files with 470 additions and 296 deletions
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5
robossembler_servers/src/gripper_cmd.cpp
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@ -87,13 +87,14 @@ private:
}
// Compute finger change for detach or attach
auto finger_state_change = goal->value - finger_state;
auto frame_name = goal->frame;
RCLCPP_ERROR(this->get_logger(), "Finger change [%.2f]", finger_state_change);
if(finger_state_change<0.0)
{
send_attach_goal("rasmt", "cube", "rasmt_Dock_Link", "link"); // TODO: read parameters from other sources
send_attach_goal("rasmt", frame_name, "rasmt_Dock_Link", "link"); // TODO: read parameters from other sources
} else if (finger_state_change>0.0)
{
send_detach_goal("rasmt", "cube", "rasmt_Dock_Link", "link");
send_detach_goal("rasmt", frame_name, "rasmt_Dock_Link", "link");
}
// Send commands to gripper
std_msgs::msg::Float64MultiArray commands;