gripper_action_server.py 文件源码

def actionCb(self, goal):
        """ Take an input command of width to open gripper. """
        rospy.loginfo('Gripper controller action goal recieved:%f' % goal.command.position)
        command = goal.command.position

        # publish msgs

        rmsg = Float64(command)

        self.r_pub.publish(rmsg)
        rospy.sleep(5.0)
        self.server.set_succeeded()
        rospy.loginfo('Gripper Controller: Done.')