gripper_cuff_control.py 文件源码

def __init__(self, arm, lights=True):
        """
        @type arm: str
        @param arm: arm of gripper to control
        @type lights: bool
        @param lights: if lights should activate on cuff grasp
        """
        self._arm = arm
        # inputs
        self._cuff = Cuff(limb=arm)
        # connect callback fns to signals
        self._lights = None
        if lights:
            self._lights = Lights()
            self._cuff.register_callback(self._light_action,
                                         '{0}_cuff'.format(arm))
        try:
            self._gripper = Gripper(arm)
            if not (self._gripper.is_calibrated() or
                    self._gripper.calibrate() == True):
                rospy.logerr("({0}_gripper) calibration failed.".format(
                               self._gripper.name))
                raise
            self._cuff.register_callback(self._close_action,
                                         '{0}_button_upper'.format(arm))
            self._cuff.register_callback(self._open_action,
                                         '{0}_button_lower'.format(arm))
            rospy.loginfo("{0} Cuff Control initialized...".format(
                          self._gripper.name))
        except:
            self._gripper = None
            msg = ("{0} Gripper is not connected to the robot."
                   " Running cuff-light connection only.").format(arm.capitalize())
            rospy.logwarn(msg)