gripperApertureNode.py 文件源码

def gripperApertureNode():
    gripper = baxter_interface.Gripper('left')
    rospy.init_node('gripperApertureNode')
    pub = rospy.Publisher('/gripperAperture_values', Int32, queue_size=1)
    rate = rospy.Rate(20)
    while not rospy.is_shutdown():
        ap = gripper.position()
        pub.publish(ap)
        rate.sleep()