/// <summary>
/// Execute robot commands receved from ROS Subscriber.
/// Gripper commands will be executed immeditately wihle trajectories will be
/// executed in a coroutine.
/// </summary>
/// <param name="robotAction"> RobotMoveActionGoal of trajectory or gripper commands</param>
void ExecuteRobotCommands(RobotMoveActionGoal robotAction)
{
if (robotAction.goal.cmd.cmd_type == TRAJECTORY_COMMAND_EXECUTION)
{
StartCoroutine(ExecuteTrajectories(robotAction.goal.cmd.Trajectory.trajectory));
}
else if (robotAction.goal.cmd.cmd_type == TOOL_COMMAND_EXECUTION)
{
if (robotAction.goal.cmd.tool_cmd.cmd_type == OPEN_GRIPPER)
{
Debug.Log("Open Tool Command");
OpenGripper();
}
else if (robotAction.goal.cmd.tool_cmd.cmd_type == CLOSE_GRIPPER)
{
Debug.Log("Close Tool Command");
CloseGripper();
}
}
}
/// <summary>
/// Execute robot commands receved from ROS Subscriber.
/// Gripper commands will be executed immeditately wihle trajectories will be
/// executed in a coroutine.
/// </summary>
/// <param name="robotAction"> RobotMoveActionGoal of trajectory or gripper commands</param>
void ExecuteRobotCommands(RobotMoveActionGoal robotAction)
{
switch (robotAction.goal.cmd.cmd_type)
{
case k_TrajectoryCommandExecution:
StartCoroutine(ExecuteTrajectories(robotAction.goal.cmd.Trajectory.trajectory));
break;
case k_ToolCommandExecution:
switch (robotAction.goal.cmd.tool_cmd.cmd_type)
{
case k_OpenGripper:
Debug.Log("Open Tool Command");
OpenGripper();
break;
case k_CloseGripper:
Debug.Log("Close Tool Command");
CloseGripper();
break;
}
break;
}
}
