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Changes to the msg definition #4

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6 changes: 3 additions & 3 deletions extend_gripper_control_ur/scripts/gripper_control_digital.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = ""
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2 changes: 1 addition & 1 deletion extend_gripper_control_ur/scripts/gripper_control_robotiq.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
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