diff --git a/src/robotiq_2f/README.md b/src/robotiq_2f/README.md new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt new file mode 100644 index 0000000..f96d87b --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(robotiq_2f_controllers) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/robotiq_2f/robotiq_2f_controllers/package.xml b/src/robotiq_2f/robotiq_2f_controllers/package.xml new file mode 100644 index 0000000..ab0ddb2 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_controllers/package.xml @@ -0,0 +1,18 @@ + + + + robotiq_2f_controllers + 0.0.0 + TODO: Package description + niko + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt new file mode 100644 index 0000000..20cbfc6 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(robotiq_2f_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml new file mode 100644 index 0000000..ce06c22 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml @@ -0,0 +1,9 @@ +robotiq_2f_140_gripper: + ros__parameters: + # Physical limits + min_position: 0.0 # Meters (fully closed) + max_position: 0.14 # Meters (fully open) + min_speed: 0.02 # Meters per second + max_speed: 0.15 # Meters per second + min_force: 20.0 # Newtons + max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml new file mode 100644 index 0000000..6a106a5 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml @@ -0,0 +1,11 @@ +robotiq_2f_140_gripper: + ros__parameters: + robot_ip: "192.168.1.11" + robot_port: 63352 + # Physical limits + min_position: 0.0 # Meters (fully closed) + max_position: 0.085 # Meters (fully open) + min_speed: 0.02 # Meters per second + max_speed: 0.15 # Meters per second + min_force: 20.0 # Newtons + max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl b/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl new file mode 100644 index 0000000..7eccbbb Binary files /dev/null and b/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl differ diff --git a/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_coupling.stl b/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_coupling.stl new file mode 100644 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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + diff --git a/src/robotiq_2f/robotiq_2f_description/package.xml b/src/robotiq_2f/robotiq_2f_description/package.xml new file mode 100644 index 0000000..4118eee --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/package.xml @@ -0,0 +1,18 @@ + + + + robotiq_2f_description + 0.0.0 + TODO: Package description + niko + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro new file mode 100644 index 0000000..519b1c5 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro @@ -0,0 +1,87 @@ + + + + + + + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + robotiq_2f_interface/RobotiqGripperHardwareInterface + 0.14 + ${robot_ip} + ${robot_port} + 1.0 + 0.5 + + + + + + + + + 0.14 + + + + + + + ${prefix}finger_joint + -1 + + + + + + ${prefix}finger_joint + 1 + + + + + + ${prefix}finger_joint + -1 + + + + + + ${prefix}robotiq_140_left_knuckle_joint + -1 + + + + + + ${prefix}robotiq_140_left_knuckle_joint + 1 + + + + + + + + + + + + + + + + diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp index 5ed189e..f0754fc 100644 --- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp +++ b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp @@ -8,6 +8,7 @@ #include #include #include +#include #include @@ -17,46 +18,86 @@ #include #include +#include + namespace robotiq_driver { class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface { public: - // Constructors - ROBOTIQ_DRIVER_PUBLIC RobotiqGripperHardwareInterface(); - ROBOTIQ_DRIVER_PUBLIC ~RobotiqGripperHardwareInterface(); - // ROBOTIQ_DRIVER_PUBLIC explicit RobotiqGripperHardwareInterface(std::unique_ptr driver_factory); + // Constructors + ROBOTIQ_DRIVER_PUBLIC RobotiqGripperHardwareInterface(); + ROBOTIQ_DRIVER_PUBLIC ~RobotiqGripperHardwareInterface(); + // ROBOTIQ_DRIVER_PUBLIC explicit RobotiqGripperHardwareInterface(std::unique_ptr socket_factory); - // Lifecycle Management - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override; + // Lifecycle Management + ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override; + ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override; + ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override; + ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override; - // State and Command Interfaces - ROBOTIQ_DRIVER_PUBLIC std::vector export_state_interfaces() override; - ROBOTIQ_DRIVER_PUBLIC std::vector export_command_interfaces() override; + // State and Command Interfaces + ROBOTIQ_DRIVER_PUBLIC std::vector export_state_interfaces() override; + ROBOTIQ_DRIVER_PUBLIC std::vector export_command_interfaces() override; - // Data Access (Read/Write) - ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override; - ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override; + // Data Access (Read/Write) + ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override; + ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override; protected: // Likely changes the access to protected from private - // Members for driver interaction - std::unique_ptr socket_adapter_; - // std::unique_ptr driver_factory_; + // Members for driver interaction + std::unique_ptr socket_adapter_; + // std::unique_ptr driver_factory_; - // Background communication thread - std::thread communication_thread_; - std::atomic communication_thread_is_running_; - void background_task(); + // Background communication thread + std::thread communication_thread_; + std::atomic communication_thread_is_running_; + void background_task(); - // Gripper State Tracking - double gripper_closed_pos_ = 0.0; - double gripper_position_ = 0.0; - double gripper_velocity_ = 0.0; - double gripper_position_command_ = 0.0; - // ... other internal state variables ... + static constexpr double NO_NEW_CMD_ = std::numeric_limits::quiet_NaN(); + + // Conversion Methods + double convertRawToPosition(int raw_position); + int convertPositionToRaw(double position); + int convertSpeedToRaw(double speed); + int convertForceToRaw(double force); + + // Gripper Commands + std::atomic write_command_; + std::atomic write_force_; + std::atomic write_speed_; + std::atomic gripper_current_state_; + + + // Gripper State Tracking + double gripper_position_ = 0.0; + double gripper_velocity_ = 0.0; + double gripper_position_command_ = 0.0; + + double reactivate_gripper_cmd_ = 0.0; + std::atomic reactivate_gripper_async_cmd_; + double reactivate_gripper_response_ = 0.0; + double gripper_force_ = 0.0; + double gripper_speed_ = 0.0; + std::atomic> reactivate_gripper_async_response_; + + // Connection Variables + std::string robot_ip_; + int robot_port_; + + // Parameters for physical limits and configuration + double min_position_; + double max_position_; + double min_speed_; + double max_speed_; + double min_force_; + double max_force_; + + // loop time + constexpr auto gripperCommsLoopPeriod = std::chrono::milliseconds{ 10 }; + + // Logger + const auto logger_ = rclcpp::get_logger("RobotiqGripperHardwareInterface"); }; } diff --git a/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp b/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp index 10c65aa..76d5adc 100644 --- a/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp +++ b/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp @@ -1,15 +1,385 @@ -#include +#include "RobotiqGripperHardwareInterface.hpp" -ROBOTIQ_DRIVER_PUBLIC RobotiqGripperHardwareInterface() - : gripper_adapter_(std::make_unique()) +namespace robotiq_driver { - +RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface() + : communication_thread_is_running_(false) +{ + // socket_factory_ = std::make_unique(); } -ROBOTIQ_DRIVER_PUBLIC ~RobotiqGripperHardwareInterface() { - // 1. Disconnect from the gripper - gripper_adapter_->disconnect(); +RobotiqGripperHardwareInterface::~RobotiqGripperHardwareInterface() +{ + if (communication_thread_is_running_.load()) + { + communication_thread_is_running_.store(false); + if (communication_thread_.joinable()) + { + communication_thread_.join(); + } + } +} - // 2. Clean up other resources if necessary - // ... -} \ No newline at end of file +hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info) +{ + RCLCPP_DEBUG(rclcpp::get_logger("RobotiqGripperHardwareInterface"), "on_init"); + + if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) + { + return CallbackReturn::ERROR; + } + + // Loading paramters from Hardware info and .yaml file + auto node = this->get_node(); + node->declare_parameter("min_position", 0.0); + node->declare_parameter("max_position", 0.14); + node->declare_parameter("min_speed", 0.02); + node->declare_parameter("max_speed", 0.15); + node->declare_parameter("min_force", 20.0); + node->declare_parameter("max_force", 235.0); + try + { + robot_ip_ = info_.hardware_parameters.at("robot_ip"); + robot_port_ = std::stod(info_.hardware_parameters.at("robot_port")); + node->get_parameter("min_position", min_position_); + node->get_parameter("max_position", max_position_); + node->get_parameter("min_speed", min_speed_); + node->get_parameter("max_speed", max_speed_); + node->get_parameter("min_force", min_force_); + node->get_parameter("max_force", max_force_); + } + catch (const std::exception& e) + { + RCLCPP_FATAL(rclcpp::get_logger("RobotiqGripperHardwareInterface"), + "Failed to load parameters: %s", e.what()); + return CallbackReturn::ERROR; + } + + gripper_position_ = std::numeric_limits::quiet_NaN(); + gripper_velocity_ = std::numeric_limits::quiet_NaN(); + gripper_position_command_ = std::numeric_limits::quiet_NaN(); + reactivate_gripper_cmd_ = NO_NEW_CMD_; + reactivate_gripper_async_cmd_.store(false); + + const hardware_interface::ComponentInfo& joint = info_.joints[0]; + + // There is one command interface: position. + if (joint.command_interfaces.size() != 1) + { + RCLCPP_FATAL(logger_, "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), + joint.command_interfaces.size()); + return CallbackReturn::ERROR; + } + + if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) + { + RCLCPP_FATAL(logger_, "Joint '%s' has %s command interfaces found. '%s' expected.", joint.name.c_str(), + joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); + return CallbackReturn::ERROR; + } + + // There are two state interfaces: position and velocity. + if (joint.state_interfaces.size() != 2) + { + RCLCPP_FATAL(logger_, "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), + joint.state_interfaces.size()); + return CallbackReturn::ERROR; + } + + for (int i = 0; i < 2; ++i) + { + if (!(joint.state_interfaces[i].name == hardware_interface::HW_IF_POSITION || + joint.state_interfaces[i].name == hardware_interface::HW_IF_VELOCITY)) + { + RCLCPP_FATAL(logger_, "Joint '%s' has %s state interface. Expected %s or %s.", joint.name.c_str(), + joint.state_interfaces[i].name.c_str(), hardware_interface::HW_IF_POSITION, + hardware_interface::HW_IF_VELOCITY); + return CallbackReturn::ERROR; + } + } + + // Socket Factory -> not added yet + + return CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_configure(const rclcpp_lifecycle::State& /*previous_state*/) +{ + RCLCPP_DEBUG(logger_, "on_configure"); + try + { + if (hardware_interface::SystemInterface::on_configure(previous_state) != CallbackReturn::SUCCESS) + { + return CallbackReturn::ERROR; + } + + socket_adapter_ = std::make_unique(); + if (!socket_adapter_->connect(robot_ip_, robot_port_)) + { + RCLCPP_ERROR(logger_, "Cannot connect to the Robotiq gripper at %s:%d", robot_ip_.c_str(), robot_port_); + return CallbackReturn::ERROR; + } + } + catch (const std::exception& e) + { + RCLCPP_ERROR(logger_, "Cannot configure the Robotiq gripper: %s", e.what()); + return CallbackReturn::ERROR; + } + + return CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_activate(const rclcpp_lifecycle::State& /*previous_state*/) +{ + RCLCPP_DEBUG(logger_, "on_activate"); + + // set some default values for joints + if (std::isnan(gripper_position_)) + { + gripper_position_ = 0; + gripper_velocity_ = 0; + gripper_position_command_ = 0; + } + + // Activate the gripper. + try + { + socket_adapter_->deactivate(); + socket_adapter_->activate(); + + communication_thread_is_running_.store(true); + communication_thread_ = std::thread([this] { this->background_task(); }); + } + catch (const std::exception& e) + { + RCLCPP_FATAL(logger_, "Failed to communicate with the Robotiq gripper: %s", e.what()); + return CallbackReturn::ERROR; + } + + RCLCPP_INFO(logger_, "Robotiq Gripper successfully activated!"); + return CallbackReturn::SUCCESS; +} + +hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/) +{ + RCLCPP_DEBUG(logger_, "on_deactivate"); + + communication_thread_is_running_.store(false); + communication_thread_.join(); + if (communication_thread_.joinable()) + { + communication_thread_.join(); + } + + try + { + socket_adapter_->deactivate(); + } + catch (const std::exception& e) + { + RCLCPP_ERROR(logger_, "Failed to deactivate the Robotiq gripper: %s", e.what()); + return CallbackReturn::ERROR; + } + RCLCPP_INFO(logger_, "Robotiq Gripper successfully deactivated!"); + return CallbackReturn::SUCCESS; +} + +std::vector RobotiqGripperHardwareInterface::export_state_interfaces() +{ + RCLCPP_DEBUG(logger_, "export_state_interfaces"); + + std::vector state_interfaces; + + state_interfaces.emplace_back( + hardware_interface::StateInterface( + info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_ + ) + ); + + state_interfaces.emplace_back( + hardware_interface::StateInterface( + info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &gripper_velocity_ + ) + ); + + return state_interfaces; +} + +std::vector RobotiqGripperHardwareInterface::export_command_interfaces() +{ + RCLCPP_DEBUG(logger_, "export_command_interfaces"); + + std::vector command_interfaces; + + command_interfaces.emplace_back( + hardware_interface::CommandInterface( + info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_command_ + ) + ); + + // Handling potential uninitialized parameter 'gripper_speed_multiplier' + double gripper_speed_multiplier = 1.0; + if (info_.hardware_parameters.find("gripper_speed_multiplier") != info_.hardware_parameters.end()) { + gripper_speed_multiplier = std::stod(info_.hardware_parameters["gripper_speed_multiplier"]); + } + gripper_speed_ = gripper_speed_multiplier; + + // Handling potential uninitialized parameter 'gripper_force_multiplier' + double gripper_force_multiplier = 1.0; + if (info_.hardware_parameters.find("gripper_force_multiplier") != info_.hardware_parameters.end()) { + gripper_force_multiplier = std::stod(info_.hardware_parameters["gripper_force_multiplier"]); + } + gripper_force_ = gripper_force_multiplier; + + command_interfaces.emplace_back( + hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_)); + command_interfaces.emplace_back( + hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_)); + command_interfaces.emplace_back( + hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_cmd", &reactivate_gripper_cmd_)); + command_interfaces.emplace_back( + hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_response", &reactivate_gripper_response_)); + + return command_interfaces; +} + +hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclcpp::Time& time, const rclcpp::Duration& /*period*/) +{ + RCLCPP_DEBUG(logger_, "Reading state from the gripper"); + + // Fetch current position and other states from the hardware + try { + int raw_position = socket_adapter_->getGripperPosition(); // This should be an existing method in your adapter + double new_position = convertRawToPosition(raw_position); + rclcpp::Time current_time = time; + + if (!std::isnan(gripper_position_)) { + double time_difference = (current_time - last_update_time_).seconds(); // Calculate time difference in seconds + if (time_difference > 0) { + gripper_velocity_ = (new_position - gripper_position_) / time_difference; // Calculate velocity + } + } + + gripper_position_ = new_position; // Update current position + last_update_time_ = current_time; // Update last update timestamp + + } catch (const std::exception& e) { + RCLCPP_ERROR(logger_, "Failed to read from Robotiq gripper: %s", e.what()); + return hardware_interface::return_type::ERROR; + } + + // Handle reactivation command if set + if (!std::isnan(reactivate_gripper_cmd_) && reactivate_gripper_cmd_ != NO_NEW_CMD_) { + RCLCPP_INFO(logger_, "Sending gripper reactivation request."); + reactivate_gripper_async_cmd_.store(true); + reactivate_gripper_cmd_ = NO_NEW_CMD_; // Reset command + } + + // Process asynchronous reactivation response if available + if (reactivate_gripper_async_response_.load().has_value()) { + reactivate_gripper_response_ = reactivate_gripper_async_response_.load().value(); + reactivate_gripper_async_response_.store(std::nullopt); // Reset response + } + + return hardware_interface::return_type::OK; +} + +hardware_interface::return_type RobotiqGripperHardwareInterface::write(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) +{ + try { + // Use the conversion methods to scale the command values to the range expected by the hardware + int scaled_position = convertPositionToRaw(gripper_position_command_); + int scaled_speed = convertSpeedToRaw(gripper_speed_); + int scaled_force = convertForceToRaw(gripper_force_); + + // Store the scaled values into atomic variables + write_command_.store(scaled_position); + write_speed_.store(scaled_speed); + write_force_.store(scaled_force); + + } catch (const std::exception& e) { + RCLCPP_ERROR(logger_, "Failed to write to Robotiq gripper: %s", e.what()); + return hardware_interface::return_type::ERROR; + } + + return hardware_interface::return_type::OK; +} + +void RobotiqGripperHardwareInterface::background_task() +{ + while (communication_thread_is_running_.load()) + { + try + { + // Re-activate the gripper + // This can be used, for example, to re-run the auto-calibration. + if (reactivate_gripper_async_cmd_.load()) + { + socket_adapter_->deactivate(); + socket_adapter_->activate(); + reactivate_gripper_async_cmd_.store(false); + reactivate_gripper_async_response_.store(true); + } + + // Write the latest command to the gripper. + int scaled_position = write_command_.load(); + int scaled_speed = write_speed_.load(); + int scaled_force = write_force_.load(); + + if (!socket_adapter_->move(scaled_position, scaled_speed, scaled_force)) { + throw std::runtime_error("Failed to send move command to Robotiq gripper."); + } + + // Read the state of the gripper. + int raw_position = socket_adapter_->getGripperPosition(); + gripper_current_state_.store(convertRawToPosition(raw_position)); + } + catch (std::exception& e) + { + RCLCPP_ERROR(logger_, "Error in background task: %s", e.what()); + } + + std::this_thread::sleep_for(gripperCommsLoopPeriod); // Sleep for a predefined period + } +} + + + +// Conversion methods +double RobotiqGripperHardwareInterface::convertRawToPosition(int raw_position) { + if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) { + throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly."); + } + double scaled_position = min_position_ + (static_cast(raw_position) / 255.0) * (max_position_ - min_position_); + return std::max(min_position_, std::min(scaled_position, max_position_)); +} + +uint8_t RobotiqGripperHardwareInterface::convertPositionToRaw(double position) { + if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) { + throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly."); + } + double scaled = (position - min_position_) / (max_position_ - min_position_) * 255.0; + return static_cast(std::clamp(scaled, 0.0, 255.0)); +} + +uint8_t RobotiqGripperHardwareInterface::convertSpeedToRaw(double speed) { + if (std::isnan(min_speed_) || std::isnan(max_speed_) || min_speed_ >= max_speed_) { + throw std::runtime_error("Invalid gripper speed limits: min_speed_ or max_speed_ are not configured correctly."); + } + double scaled = (speed - min_speed_) / (max_speed_ - min_speed_) * 255.0; + return static_cast(std::clamp(scaled, 0.0, 255.0)); +} + +uint8_t RobotiqGripperHardwareInterface::convertForceToRaw(double force) { + if (std::isnan(min_force_) || std::isnan(max_force_) || min_force_ >= max_force_) { + throw std::runtime_error("Invalid gripper force limits: min_force_ or max_force_ are not configured correctly."); + } + double scaled = (force - min_force_) / (max_force_ - min_force_) * 255.0; + return static_cast(std::clamp(scaled, 0.0, 255.0)); +} + +} // namespace robotiq_driver + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS(robotiq_2f_interface::RobotiqGripperHardwareInterface, hardware_interface::SystemInterface) diff --git a/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp b/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp new file mode 100644 index 0000000..7992e05 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp @@ -0,0 +1,69 @@ +#include +#include "RobotiqGripperHardwareInterface.hpp" + +class TestableRobotiqGripperHardwareInterface : public robotiq_driver::RobotiqGripperHardwareInterface { +public: + using robotiq_driver::RobotiqGripperHardwareInterface::convertPositionToRaw; + using robotiq_driver::RobotiqGripperHardwareInterface::convertRawToPosition; + using robotiq_driver::RobotiqGripperHardwareInterface::convertSpeedToRaw; + using robotiq_driver::RobotiqGripperHardwareInterface::convertForceToRaw; +}; + +class RobotiqGripperConversionTests : public ::testing::Test { +protected: + TestableRobotiqGripperHardwareInterface gripper_interface; + + void SetUp() override { + gripper_interface.min_position_ = 0.0; + gripper_interface.max_position_ = 0.14; + gripper_interface.min_speed_ = 0.02; + gripper_interface.max_speed_ = 0.15; + gripper_interface.min_force_ = 20.0; + gripper_interface.max_force_ = 235.0; + } +}; + +// Test for convertPositionToRaw +TEST_F(RobotiqGripperConversionTests, PositionToRawValidInput) { + EXPECT_EQ(gripper_interface.convertPositionToRaw(0.07), 128); +} + +TEST_F(RobotiqGripperConversionTests, PositionToRawBoundaryInput) { + EXPECT_EQ(gripper_interface.convertPositionToRaw(0.0), 0); + EXPECT_EQ(gripper_interface.convertPositionToRaw(0.14), 255); +} + +// Test for convertRawToPosition +TEST_F(RobotiqGripperConversionTests, RawToPositionValidInput) { + ASSERT_NEAR(gripper_interface.convertRawToPosition(128), 0.07, 0.01); +} + +TEST_F(RobotiqGripperConversionTests, RawToPositionBoundaryInput) { + ASSERT_NEAR(gripper_interface.convertRawToPosition(0), 0.0, 0.01); + ASSERT_NEAR(gripper_interface.convertRawToPosition(255), 0.14, 0.01); +} + +// Test for convertSpeedToRaw +TEST_F(RobotiqGripperConversionTests, SpeedToRawValidInput) { + EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.085), 128); +} + +TEST_F(RobotiqGripperConversionTests, SpeedToRawBoundaryInput) { + EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.02), 0); + EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.15), 255); +} + +// Test for convertForceToRaw +TEST_F(RobotiqGripperConversionTests, ForceToRawValidInput) { + EXPECT_EQ(gripper_interface.convertForceToRaw(127.5), 128); +} + +TEST_F(RobotiqGripperConversionTests, ForceToRawBoundaryInput) { + EXPECT_EQ(gripper_interface.convertForceToRaw(20.0), 0); + EXPECT_EQ(gripper_interface.convertForceToRaw(235.0), 255); +} + +int main(int argc, char **argv) { + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file