#! /usr/bin/env python

import rospy

import actionlib

import actionlib_tutorials.msg
import control_msgs.msg

def gripper_client():
    # Creates the SimpleActionClient, passing the type of the action
    # (GripperCommandAction) to the constructor.
    client = actionlib.SimpleActionClient('/gripper/goal', control_msgs.msg.GripperCommandAction)

    # Waits until the action server has started up and started
    # listening for goals.
    client.wait_for_server()

    # Creates a goal to send to the action server.
    goal = control_msgs.msg.GripperCommandActionGoal('header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}',
                                                     ' goal_id: {stamp: {secs: 0, nsec: 0}, id: '' }',
                                                     ' goal: {command: {position: 0.0, max_effort: 100 } }')

    # Sends the goal to the action server.
    client.send_goal(goal)

    # Waits for the server to finish performing the action.
    client.wait_for_result()

    # Prints out the result of executing the action
    return client.get_result()

if __name__ == '__main__':
    # Initializes a rospy node so that the SimpleActionClient can
    # publish and subscribe over ROS.
    rospy.init_node('gripper_control')
    gripper_client()