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Gripper action server

Expose SRDF gripper-state motion through EndEffectorAction.

beambot.action_servers.end_effector_server · Source

Tools and end effectors · Guide · Symbol index

How it is used

This is the ROS endpoint for moving a gripper to a named SRDF state, such as its configured grasp or release state. The orchestrator sends EndEffectorAction goals to beambot_endeffector; EndEffectorStages builds and executes the motion.

main() starts the server. Its create_stages() override is the connection between the shared action lifecycle and the gripper implementation.

Start here

Callable	Purpose
main	Run EndEffectorActionServer through the shared multithreaded ROS server runner.
EndEffectorActionServer.create_stages	Bind EndEffectorStages to this action-server node.

Functions

main()

Run EndEffectorActionServer through the shared multithreaded ROS server runner.

Entry point · Source

main(args=None)

Parameter	Meaning
args	Optional ROS initialization arguments; None uses normal rclpy argument handling.

Returns: None when the server exits.

Errors: KeyboardInterrupt during spin is handled by run_server; initialization/construction and other executor errors propagate.

Side effects: Initializes ROS, constructs the action node, spins until shutdown and destroys the node/context.

EndEffectorActionServer

Concrete BaseActionServer for gripper group-state goals. Goal admission, result completion, and exception handling are inherited; stage construction selects EndEffectorStages.

Inherits from: BaseActionServer.

EndEffectorActionServer.create_stages()

Bind EndEffectorStages to this action-server node.

Extension hook · Source

create_stages(self)

Returns: New EndEffectorStages instance.

Errors: Stage initialization errors propagate.

Side effects: Initializes stage resources.

EndEffectorActionServer.__init__()

Configure the shared action base as node beambot_endeffector_server serving beambot_endeffector.

Lifecycle · Source

__init__(self)

Errors: Stage/node/action initialization errors propagate.

Side effects: Constructs the ROS action endpoint and operation stages; logs startup.