text: #!/usr/bin/env python
  
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  # Revision $Id$
  
  """@package docstring
  ROS node for controling a Robotiq 2F gripper using the Modbus RTU protocol.
  
  The script takes as an argument the IP address of the gripper. It initializes a baseRobotiq2FGripper object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'Robotiq2FGripperRobotInput' topic using the 'Robotiq2FGripper_robot_input' msg type. The node subscribes to the 'Robotiq2FGripperRobotOutput' topic for new commands using the 'Robotiq2FGripper_robot_output' msg type. Examples are provided to control the gripper (Robotiq2FGripperSimpleController.py) and interpreting its status (Robotiq2FGripperStatusListener.py).
  """
  
  import roslib; roslib.load_manifest('robotiq_2f_gripper_control')
  roslib.load_manifest('robotiq_modbus_rtu')
  import rospy
  import robotiq_2f_gripper_control.baseRobotiq2FGripper
  import robotiq_modbus_rtu.comModbusRtu
  import os, sys
  from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_input  as inputMsg
  from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output as outputMsg
  
  def mainLoop():
      #Gripper is a 2F with a TCP connection
      gripper = robotiq_2f_gripper_control.baseRobotiq2FGripper.robotiqbaseRobotiq2FGripper()
      gripper.client = robotiq_modbus_rtu.comModbusRtu.communication()
  
      rospy.init_node('robotiq2FGripper')
      device=rospy.get_param("/gripper_device")
      print device
  
      #We connect to the address received as an argument
      gripper.client.connectToDevice(device)
  
      #The Gripper status is published on the topic named 'Robotiq2FGripperRobotInput'
      pub = rospy.Publisher('Robotiq2FGripperRobotInput', inputMsg.Robotiq2FGripper_robot_input,queue_size=10)
  
      #The Gripper command is received from the topic named 'Robotiq2FGripperRobotOutput'
      rospy.Subscriber('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, gripper.refreshCommand)
  
  
      #We loop
      while not rospy.is_shutdown():
  
        #Get and publish the Gripper status
        status = gripper.getStatus()
        pub.publish(status)
  
        #Wait a little
        #rospy.sleep(0.05)
  
        #Send the most recent command
        gripper.sendCommand()
  
        #Wait a little
        #rospy.sleep(0.05)
  
  if __name__ == '__main__':
      try:
          mainLoop()
      except rospy.ROSInterruptException: pass
  