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Thread: ArbotiX ROS Stack 0.4.0

  1. Re: ArbotiX ROS Stack 0.4.0

    Hi fergs,

    I would like to consult that, if I just want to move gripper, should I send a goal to the gripper controller? The goal is float64, of course. If I can, the server definition in gripper_controller.py is "self.server = actionlib.SimpleActionServer("~gripper_action",Gri pperCommandAction,execute_cb=self.actionCb,auto_st art=false)", and I don't know why you add "~". This bother me so much when coding the client(I cannot define the client by ac("~gripper_action",true)), which would bring nodehandle problem. And if I delete the "~" in gripper_controller.py, when running the client it just waiting. Please give me suggestions, thanks so much!

    -Yantian
    Last edited by zhayantian; 04-27-2014 at 08:23 PM.

  2. Re: ArbotiX ROS Stack 0.4.0

    Hi fergs,

    I would like to consult that, if I just want to move gripper, should I send a goal to the gripper controller? The goal is float64, of course. If I can, the server definition in gripper_controller.py is "self.server = actionlib.SimpleActionServer("~gripper_action",Gri pperCommandAction,execute_cb=self.actionCb,auto_st art=false)", and I don't know why you add "~". This bother me so much when coding the client(I cannot define the client by ac("~gripper_action",true)), which would bring nodehandle problem. And if I delete the "~" in gripper_controller.py, when running the client it just waiting. Please give me suggestions, thanks so much!

    -Yantian

  3. #93
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    Re: ArbotiX ROS Stack 0.4.0

    The ~ puts the topic in the local namespace of the node. Thus, if the gripper controller runs with the name "gripper_controller" the full action name becomes "gripper_controller/gripper_action" -- and that is the name your client should use.

    -Fergs

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