HiveCoreRD/hivecore_robot_ctrl_gui
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屏蔽夹爪action result，以免影响brain

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david
2025-12-04 11:07:48 +08:00
parent 04ea4bab7d
commit 004036ac40
1 changed files with 12 additions and 2 deletions
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14
ctrlgui/ctrlgui_node.py
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@@ -138,20 +138,30 @@ class CtrlGuiNode(Node):
return
self.file_logger.info('Gripper action goal accepted')
print("Gripper action goal accepted")
self._get_gripper_result_future = goal_handle.get_result_async()
self._get_gripper_result_future.add_done_callback(self.gripper_action_result_callback)
# self._get_gripper_result_future = goal_handle.get_result_async()
# self._get_gripper_result_future.add_done_callback(self.gripper_action_result_callback)
def gripper_action_result_callback(self, future):
result = future.result().result
status = future.result().status
self.file_logger.info(f'Gripper Action Result: {result}, Status: {status}')
print(f'Gripper Action Result: {result}, Status: {status}')
if hasattr(result, 'state'):
print(f"Gripper Result State: {result.state}")
if hasattr(result, 'result'):
print(f"Gripper Result Code: {result.result}")
def gripper_action_feedback_callback(self, feedback_msg):
print("gripper action feedback callback")
goal_feedback = feedback_msg.feedback
self.file_logger.info(f'Gripper action feedback: {goal_feedback}')
print("feedback callback" + str(goal_feedback))
if hasattr(goal_feedback, 'loc'):
print(f"Feedback Loc: {goal_feedback.loc}")
if hasattr(goal_feedback, 'speed'):
print(f"Feedback Speed: {goal_feedback.speed}")
if hasattr(goal_feedback, 'torque'):
print(f"Feedback Torque: {goal_feedback.torque}")
def _setup_file_logging(self):
"""Setup logging to a file with timestamp in filename."""