text: {% extends "ROSBase.tpl.py" %}
  
  {% from "Utils.tpl.py" import from_import %}
  
  {% block imports %}
  {{ super() }}
  {{ from_import(defined_headers, 'smacha_ros.srv', 'GripperSrv') }}
  {{ from_import(defined_headers, 'smacha_ros.srv', 'GripperSrvRequest') }}
  {{ from_import(defined_headers, 'smacha_ros.srv', 'GripperSrvResponse') }}
  {{ from_import(defined_headers, 'geometry_msgs.msg', '*') }}
  {% endblock imports %}
  
  {% block defs %}
  {{ super() }}
  def gripper_srv(req):
      if req.max_effort > 5.0:
          print('gripper_srv() returning True')
          return GripperSrvResponse(True)
      else:
          print('gripper_srv() returning False')
          return GripperSrvResponse(False)
  {% endblock defs %}
  
  {% block main_def %}
  {{ super() }}
      # Register a gripper service
      s = rospy.Service('gripper_srv', GripperSrv, gripper_srv)
  {% endblock main_def %}
  
  {% block base_footer %}
  {{ super() }}
      rospy.signal_shutdown('All done.')
  {% endblock base_footer %}
  