Control of the vacuum gripper plugin with the keyboard

edit

Hello, I am trying to control my whole robot with my keyboard and I am having a problem with controlling the vacuum gripper. I already know that the vacuum gripper is a client to the server '/vacuum_gripper' and I have to create the service server that will request the status of the gripper (True if gripper is on and False if gripper is off). I got stuck while creating my node and I am not quite sure how to proceed. I have created the moveBindings keys where a key would turn on the vacuum and another key would turn it off. I just don't know if I should use SetBool.srv as the type of my service and how should the vacuum gripper plugin wait for me to send a request on it. Can anyone help with how should I proceed or did anyone ever used the plugin and controlled it from keyboard? If so, can you share your code so I could proceed on my project?

Thank you in advance.

Update: Python source code of key binding node so far.

moveBindings = {
        'w':(0.01,0,0),
        's':(-0.01,0,0),
        'd':(0,0.01,0),
        'a':(0,-0.01,0),
        'r':(0,0,0.01),
        'f':(0,0,-0.01),
    }

def getKey():
    tty.setraw(sys.stdin.fileno())
    select.select([sys.stdin], [], [], 0)
    key = sys.stdin.read(1)
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key

if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)

    pub = rospy.Publisher('Keyboard_Control', Twist, queue_size = 10)
    rospy.init_node('teleop_keyboard')

    x = 0
    y = 0
    z = 0

    try:
        print(msg)
        while(1):
            key = getKey()
            if key in moveBindings.keys():
                x = moveBindings[key][0]
                y = moveBindings[key][1]
                z = moveBindings[key][2]
            print (x, y, z)
                else:
                    x = 0
                    y = 0
                    z = 0
            print (x, y, z)
                    if (key == '\x03'):
                        break