gripper_action_server.py 文件源码

def __init__(self):
        rospy.init_node('gripper_controller')


        self.r_pub = rospy.Publisher('gripper_controller/command', Float64, queue_size=10)

        # subscribe to command and then spin
        self.server = actionlib.SimpleActionServer('~gripper_action', GripperCommandAction, execute_cb=self.actionCb, auto_start=False)
        self.server.start()
        rospy.spin()