suction cup interface for HERO #1114
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| self._publish_marker(grasp_precompute_goal, [0, 1, 0], "grasp_point_corrected") | ||
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| time.sleep(0.001) # This is necessary: the rtt_actionlib in the hardware seems |
| return goal_status == GoalStatus.SUCCEEDED | ||
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| @property | ||
| def occupied_by_suction(self): |
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The occupied by setter and getter are already inherited from https://github.com/tue-robotics/tue_robocup/blob/master/robot_skills/src/robot_skills/arm/gripper.py Gripper. You don't need to redefine them here
| """ | ||
| self._occupied_by_suction = value | ||
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| def send_goal_suction(self, frameStamped, timeout=30, pre_grasp=False, first_joint_pos_only=False, |
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I dont think we need this function here. Getting the arm to work with different gripper is part of #1091. Which is work for another day
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@PetervDooren , Could you have a look at the changes I pushed on June 22nd ? |
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| goal_status = GoalStatus.SUCCEEDED | ||
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| if timeout != 0.0: |
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After discussion with @MatthijsBurgh it was decided to change the behaviour. A timeout of 0 should be the default, in this case the system should wait until the action server is done and check the obtained status. Otherwise, after the timeout, the status of the action server should be checked, if the server is done the result should be used, otherwise the goal should be canceled.
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