grasp`#

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/advanced_grasping/grasp Quick Facts

Category: Mobile manipulation
Message type: pal_bt_grasping_msgs/GraspObject

Instructs the robot to grasp an object (part of the Advanced Grasping pipeline).

See Overview of the Advanced Grasping pipeline for details and tutorials.

Quick snippets#

Send a goal from the command-line#

$ rostopic pub /advanced_grasping/grasp/goal pal_bt_grasping_msgs/GraspObjectActionGoal # press Tab to complete the message prototype

How to use in your code#

Call the action from a Python script#

#!/usr/bin/env python

import rospy
import actionlib
from pal_bt_grasping_msgs.msg import *


if __name__ == "__main__":

    client = actionlib.SimpleActionClient("/advanced_grasping/grasp", pal_bt_grasping_msgs.msg.GraspObjectAction)
    client.wait_for_server()

    # check the pal_bt_grasping_msgs/GraspObjectGoal message
    # definition for the possible goal parameters
    goal = pal_bt_grasping_msgs.msg.GraspObjectGoal(param1=..., param2=...)

    client.send_goal(goal)
    client.wait_for_result()

    rospy.loginfo("Action returned: %s" % client.get_result())

Call the action using SimpleActionClient#

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <pal_bt_grasping_msgs/GraspObjectAction.h>

int main (int argc, char **argv)
{
  ros::init(argc, argv, "advanced_grasping_grasp_action_client");

  // create the action client
  // true causes the client to spin its own thread
  actionlib::SimpleActionClient<:pal_bt_grasping_msgs::GraspObjectAction> ac("/advanced_grasping/grasp", true);

  ROS_INFO("Waiting for action server to start.");
  // wait for the action server to start
  ac.waitForServer(); //will wait for infinite time

  ROS_INFO("Action server started, sending goal.");
  // send a goal to the action
  pal_bt_grasping_msgs::GraspObjectGoal goal;

  // check the pal_bt_grasping_msgs/GraspObjectGoal message
  // definition for the possible goal parameters

  // goal.... = ...;
  ac.sendGoal(goal);

  //wait for the action to return
  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));

  if (finished_before_timeout)
  {
    actionlib::SimpleClientGoalState state = ac.getState();
    ROS_INFO("Action finished: %s",state.toString().c_str());
  }
  else
  {
    ROS_INFO("Action did not finish before the time out.");
    ac.cancelGoal();
  }

  return 0;
}

/advanced_grasping/grasp#

Quick snippets#

How to use in your code#

`/advanced_grasping/grasp`#