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franka_gripper is a ROS node that offers action servers. Think of them as designed to be non-blocking long-running services that can be preempted if required. ROS offers topic, services, and actions to communicate between nodes/processes. A good summary can be found here.

So you would need to write a ROS Action Client(in Python/C++) to call and send a goal to the action servers exposed in franka_gripper. If you are new to ROS I would highly recommend going over the ROS tutorials from 1-16.

If in a hurry go over the tutorials(11, 14 for C++ or 12 -15 for Python) to get a quick look at ROS subscriber/publisher and some basics. Then head over to the actionlib tutorials(beginner) which is exactly what you need to communicate with franka_gripper. You would make changes based on the specification of the action server in franka_gripper.

franka_gripper is a ROS node that offers action servers. Think of them as designed to be non-blocking long-running services that can be preempted if required. ROS offers topic, services, and actions to communicate between nodes/processes. A good summary can be found here.

So you would need to write a ROS Action Client(in Python/C++) to call and send a goal to the action servers exposed in franka_gripper. If you are new to ROS I would highly recommend going over the ROS tutorials from 1-16.

If in a hurry go over the tutorials(11, 14 for C++ or 12 -15 for Python) to get a quick look at ROS subscriber/publisher and some basics. Then head over to the actionlib tutorials(beginner) which is exactly what you need to communicate with franka_gripper. You would make changes based on the specification of the action server in franka_gripper.