L1.5/rosaria
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Add gripper support

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This commit is contained in:
Damian Barański 2015-03-02 11:06:57 +01:00
parent 1e729cc9f3
commit dec06e1ea1
1 changed files with 4 additions and 0 deletions
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4
RosAria.cpp
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@ -90,6 +90,8 @@ class RosAriaNode
ArRobotConnector *conn; ArRobotConnector *conn;
ArRobot *robot; ArRobot *robot;
ArGripper* gripper;
nav_msgs::Odometry position; nav_msgs::Odometry position;
rosaria::BumperState bumpers; rosaria::BumperState bumpers;
ArPose pos; ArPose pos;
@ -352,6 +354,8 @@ RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
stop_robot=false; stop_robot=false;
stop_motors_msg.data=false; stop_motors_msg.data=false;
veltime = ros::Time::now(); veltime = ros::Time::now();
gripper->gripOpen();
} }
RosAriaNode::~RosAriaNode() RosAriaNode::~RosAriaNode()