From de5d81e21aa05c88b97131175036aa674fdd0890 Mon Sep 17 00:00:00 2001 From: nitish3693 Date: Tue, 30 Sep 2025 15:00:38 +0200 Subject: [PATCH] Changes to the msg definition --- .../scripts/gripper_control_digital.py | 6 +++--- .../scripts/gripper_control_robotiq.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/extend_gripper_control_ur/scripts/gripper_control_digital.py b/extend_gripper_control_ur/scripts/gripper_control_digital.py index 65410af23..6a4ffcca3 100755 --- a/extend_gripper_control_ur/scripts/gripper_control_digital.py +++ b/extend_gripper_control_ur/scripts/gripper_control_digital.py @@ -20,13 +20,13 @@ def initialize(): return pubGripperCommandRepublisher,pubGripperResponse def dataCallback(msg): - if(msg.gripperDigital.data): + if(msg.gripper_digital.data): gripperValue = 1 else: gripperValue = 0 - gripperPin = msg.gripperPin.data + gripper_pin = msg.gripper_pin.data gripperControl = rospy.ServiceProxy(setIOServiceName, ur_msgs.srv.SetIO) - gripperAction = gripperControl(1,gripperPin,gripperValue) + gripperAction = gripperControl(1,gripper_pin,gripperValue) header = Header() header.seq = 0 header.frame_id = "" diff --git a/extend_gripper_control_ur/scripts/gripper_control_robotiq.py b/extend_gripper_control_ur/scripts/gripper_control_robotiq.py index f1ed0109e..ac3b30055 100755 --- a/extend_gripper_control_ur/scripts/gripper_control_robotiq.py +++ b/extend_gripper_control_ur/scripts/gripper_control_robotiq.py @@ -26,7 +26,7 @@ def dataCallback(msg): gripperControlMsg.rGTO = 1 gripperControlMsg.rSP = 255 gripperControlMsg.rFR = 150 - gripperControlMsg.rPR = int(255 * msg.gripperAnalog.data) + gripperControlMsg.rPR = int(255 * msg.gripper_analog.data) pubRobotiqControl.publish(gripperControlMsg) header = Header()