message: added docu for gripper server
diff: @@ -24,14 +24,52 @@ class GripperServer {
  static constexpr double kWidthTolerance{0.005};
  GripperServer() = delete;
  +
  + /**
  + * Constructs an instance of GripperServer
  + *
  + * @param[in] robot_ip The IP address of the robot
  + * @param[in] node_handle A nodehandle to parse parameters and publish
  + */
  GripperServer(const std::string& robot_ip, ros::NodeHandle& node_handle);
  +
  + /**
  + * Reads the current gripper state from the hardware
  + *
  + * @param[in] state A pointer to store the new gripper state
  + */
  bool getGripperState(franka::GripperState* state);
  private:
  + /**
  + * Calls the libfranka move service of the gripper
  + *
  + * @param[in] request A move command with target width and velocity
  + */
  void move(const Move::Request& request);
  +
  + /**
  + * Calls the libfranka homing service of the gripper
  + */
  void homing();
  +
  + /**
  + * Calls the libfranka stop service of the gripper to stop applying force
  + */
  void stop();
  +
  + /**
  + * Calls the libfranka grasp service of the gripper
  + *
  + * @param[in] request A grasp command with target width,velocity and max effort
  + */
  void grasp(const Grasp::Request& request);
  +
  + /**
  + * A callback function for a control_msgs/GripperCommand action
  + *
  + * @param[in] goal A gripper action goal
  + */
  void executeGripperCommand(
  const control_msgs::GripperCommandGoalConstPtr& goal);
  