minor

src/launch/autonomous_offboard_gripper.launch

+<launch>
+  <node name="action_controller_gripper" pkg="autonomous_offboard" type="action_controller_gripper.py" output="screen" />
+</launch>

src/launch/autonomous_offboard_test_claws.launch

+<launch>
+  <node name="action_controller_claws" pkg="autonomous_offboard" type="action_controller_test_claws.py" output="screen" />
+</launch>

src/launch/rosserial.launch

+<launch>
+  <node name="arduino" pkg="rosserial_python" type="serial_node.py" output="screen" args="_port:=/dev/ttyUSB1" />
+  <node name="UAV_Sense" pkg="rosserial_python" type="serial_node.py" output="screen" args="_port:=/dev/ttyUSB0" />
+</launch>

src/scripts/action_controller_gripper.py

+#!/usr/bin/env python
+
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import time
+import gripper_control
+
+from std_msgs.msg import UInt16
+
+if __name__ == '__main__':
+    rospy.init_node('action_controller_gripper')
+    gc = gripper_control.gripper_control()
+    print("Started")
+    msg = UInt16()
+    print("First")
+    msg.data = 180
+    gc.grippers_short(msg)
+    gc.grippers_long(msg)
+    print("Second")
+    time.sleep(10)
+    msg.data = 0
+    gc.grippers_short(msg)
+    gc.grippers_long(msg)
+
+
+    
+

src/scripts/action_controller_test_claws.py

+#!/usr/bin/env python
+import roslib
+#roslib.load_manifest('autonomous_offboard')
+import rospy
+import actionlib
+import mavros_state
+import time
+
+import gripper_control
+
+from autonomous_offboard.msg import center_on_objectAction,  center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal,goto_position_velAction, goto_position_velGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal, gotoposition_sensorAction , gotoposition_sensorGoal
+
+from std_msgs.msg import Float32, UInt16
+from geometry_msgs.msg import PoseStamped
+
+if __name__ == '__main__':
+    rospy.init_node('action_controller_claws')
+    gc = gripper_control.gripper_control()
+    msg = UInt16()
+
+    rospy.loginfo("closing grippers")
+    msg.data = 180
+    gc.close_short_gripper(msg)

src/scripts/gripper_control.py

+#!/usr/bin/env python
+
+import roslib
+import rospy
+import time
+from std_msgs.msg import UInt16
+class gripper_control():
+    def __init__(self):
+
+        #publishers
+        self.open_shortG = rospy.Publisher('/open_shortG', UInt16, queue_size=1)
+        self.close_shortG = rospy.Publisher('/close_shortG', UInt16, queue_size=1)
+        self.Goff = rospy.Publisher('/Goff', UInt16, queue_size=1)
+
+    def open_short_gripper(self, cmd):
+        print("Opening short grippers")
+        time.sleep(3)
+        self.open_shortG.publish(cmd)
+
+    def close_short_gripper(self, cmd):
+        print("Closing short grippers")
+        time.sleep(3)
+        self.close_shortG.publish(cmd)
+
+    def Goff_gripper(self, cmd):
+        print("Turning servo motors off")
+        self.Goff.publish(cmd)