PSI-273 Robotiq3f integration

[nitish3693]

This has not been tested yet. To be tested at customer premises.

[tomqext]

I like the use of the enum structure here, but on closer inspection the whole Robotiq3FGripperControlNode class might get a fair bit simpler if you swapped it for a class-level dictionary

class Robotiq3FGripperControlNode:
    ROBOTIQ_3F_GRIPPER_MODES = {'BASIC': 0, 'PINCH': 1, 'WIDE': 2, 'SCISSOR': 3}
    def __init__(self, mode):

your current_mode_provider method then becomes:

    def current_mode_provider(self, request):
        response = GetStringResponse()
        response.data = self.ROBOTIQ_3F_GRIPPER_MODES[self.current_mode]
        return response

Your mode_select method would become:

    def mode_select(self, mode):
        gripper_control_msg = Robotiq3FGripperRobotOutput()
        gripper_control_msg.rACT = 1
        gripper_control_msg.rMOD = self.ROBOTIQ_3F_GRIPPER_MODES[self.current_mode]
        self.pub_robotiq_control.publish(gripper_control_msg)

etc...

[tomqext]

maybe use a better variable name than what I suggested though
ROBOTIQ_3F_GRIPPER_MODES_ENUM_DICT or something