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This solves your error message:

ros::NodeHandle pn("~");
GripperMoveClient ac(pn, "gripper_action", true);

By constructing the private node handle with namespace "~", and then passing that to your action client, the effect will be that you're subscribing to"~/gripper_action", which will be resolved to "/grasping_points_node/gripper_action". Are you sure you want that to happen? It only makes sense if the action server that you're trying to connect to is running in the private namespace of your client node, i.e. in almost all cases it's part of the same node.

Probably you should run rostopic list on the command line to figure out the final resolved name of the gripper_action topic.

Here is some more information on how ~ is resolved in ROS.