Merge remote-tracking branch 'origin/main'

# Conflicts: # UR_Robotiq.humble.repos # src/robotiq_2f/robotiq_2f_description/CMakeLists.txt # src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml # src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml # src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml # src/robotiq_2f/robotiq_2f_description/package.xml # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro # src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro # src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt # src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp # src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp # src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp # src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp # src/servo_keyboard/hardware_interface_plugin.xml # src/servo_keyboard/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp # src/servo_keyboard/include/robotiq_2f_interface/SocketAdapterBase.hpp # src/servo_keyboard/include/robotiq_2f_interface/visibility_control.hpp # src/servo_keyboard/package.xml
2024-04-16 11:53:56 +02:00 · 2024-04-16 11:53:56 +02:00 · 8b3c40bbe7
commit 8b3c40bbe7
parent ad299fe757 08bec7a499
11 changed files with 773 additions and 2 deletions
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@ -5,7 +5,5 @@
    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Description" vcs="Git" />
    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Driver" vcs="Git" />
    <mapping directory="$PROJECT_DIR$/src/cartesian_controllers" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/ros2_robotiq_gripper" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/serial" vcs="Git" />
  </component>
 </project>
--- a/src/robotiq_2f/robotiq_2f_description/launch/robotiq_control.launch.py
+++ b/src/robotiq_2f/robotiq_2f_description/launch/robotiq_control.launch.py
@ -0,0 +1,148 @@
+# Copyright (c) 2022 PickNik, Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import launch
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch.conditions import IfCondition
+import launch_ros
+import os
+
+
+def generate_launch_description():
+    description_pkg_share = launch_ros.substitutions.FindPackageShare(
+        package="robotiq_description"
+    ).find("robotiq_2f_description")
+    default_model_path = os.path.join(
+        description_pkg_share, "urdf", "robotiq_2f_140.urdf.xacro"
+    )
+    default_rviz_config_path = os.path.join(
+        description_pkg_share, "rviz", "view_urdf.rviz"
+    )
+
+    args = []
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="model",
+            default_value=default_model_path,
+            description="Absolute path to gripper URDF file",
+        )
+    )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="rvizconfig",
+            default_value=default_rviz_config_path,
+            description="Absolute path to rviz config file",
+        )
+    )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="launch_rviz", default_value="true", description="Launch RViz?"
+        )
+    )
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            LaunchConfiguration("model"),
+            " ",
+            "use_fake_hardware:=true",
+        ]
+    )
+    robot_description_param = {
+        "robot_description": launch_ros.parameter_descriptions.ParameterValue(
+            robot_description_content, value_type=str
+        )
+    }
+
+    controllers_file = "robotiq_controllers.yaml"
+    initial_joint_controllers = PathJoinSubstitution(
+        [description_pkg_share, "config", controllers_file]
+    )
+
+    control_node = launch_ros.actions.Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[
+            robot_description_param,
+            initial_joint_controllers,
+        ],
+    )
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[robot_description_param],
+    )
+
+    rviz_node = launch_ros.actions.Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", LaunchConfiguration("rvizconfig")],
+        condition=IfCondition(LaunchConfiguration("launch_rviz")),
+    )
+
+    joint_state_broadcaster_spawner = launch_ros.actions.Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            "joint_state_broadcaster",
+            "--controller-manager",
+            "/controller_manager",
+        ],
+    )
+
+    robotiq_gripper_controller_spawner = launch_ros.actions.Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
+    )
+
+    robotiq_activation_controller_spawner = launch_ros.actions.Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
+    )
+
+    nodes = [
+        control_node,
+        robot_state_publisher_node,
+        joint_state_broadcaster_spawner,
+        robotiq_gripper_controller_spawner,
+        robotiq_activation_controller_spawner,
+        rviz_node,
+    ]
+
+    return launch.LaunchDescription(args + nodes)
--- a/src/robotiq_2f/robotiq_2f_description/launch/view_gripper.launch.py
+++ b/src/robotiq_2f/robotiq_2f_description/launch/view_gripper.launch.py
@ -0,0 +1,75 @@
+import launch
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+import launch_ros
+import os
+
+
+def generate_launch_description():
+    pkg_share = launch_ros.substitutions.FindPackageShare(
+        package="robotiq_2f_description"
+    ).find("robotiq_2f_description")
+    default_model_path = os.path.join(
+        pkg_share, "urdf", "robotiq_2f_85.urdf.xacro"
+    )
+    default_rviz_config_path = os.path.join(pkg_share, "rviz", "view_urdf.rviz")
+
+    args = []
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="model",
+            default_value=default_model_path,
+            description="Absolute path to gripper URDF file",
+        )
+    )
+    args.append(
+        launch.actions.DeclareLaunchArgument(
+            name="rvizconfig",
+            default_value=default_rviz_config_path,
+            description="Absolute path to rviz config file",
+        )
+    )
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            LaunchConfiguration("model"),
+        ]
+    )
+    robot_description_param = {
+        "robot_description": launch_ros.parameter_descriptions.ParameterValue(
+            robot_description_content, value_type=str
+        )
+    }
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[robot_description_param],
+    )
+
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+
+    rviz_node = launch_ros.actions.Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        arguments=["-d", LaunchConfiguration("rvizconfig")],
+    )
+
+    nodes = [
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        rviz_node,
+    ]
+
+    return launch.LaunchDescription(args + nodes)
--- a/src/robotiq_2f/robotiq_2f_description/rviz/view_urdf.rviz
+++ b/src/robotiq_2f/robotiq_2f_description/rviz/view_urdf.rviz
@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Status1
+      Splitter Ratio: 0.6264705657958984
+    Tree Height: 555
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        dummy_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        end_effector_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_finger_dist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_finger_prox_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lower_wrist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_finger_dist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_finger_prox_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        table:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        upper_wrist_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.1567115783691406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.09681572020053864
+        Y: -0.10843408107757568
+        Z: 0.1451336145401001
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 1989
+  Y: 261
--- a/src/robotiq_2f/robotiq_controllers/CHANGELOG.rst
+++ b/src/robotiq_2f/robotiq_controllers/CHANGELOG.rst
@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotiq_controllers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.1 (2023-07-17)
+------------------
+* Initial ROS 2 release of robotiq_controllers
+  * This package is not supported by Robotiq but is being maintained by PickNik Robotics
+* Contributors: Alex Moriarty, Cory Crean
--- a/src/robotiq_2f/robotiq_controllers/CMakeLists.txt
+++ b/src/robotiq_2f/robotiq_controllers/CMakeLists.txt
@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.8)
+project(robotiq_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)
+find_package(controller_interface REQUIRED)
+find_package(std_srvs REQUIRED)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  controller_interface
+  std_srvs
+)
+
+include_directories(include)
+
+add_library(${PROJECT_NAME} SHARED
+  src/robotiq_activation_controller.cpp
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  include
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
+pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
+
+# # INSTALL
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+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)
+
+  # the following skips uncrustify
+  # ament_uncrustify and ament_clang_format cannot both be satisfied
+  set(ament_cmake_uncrustify_FOUND TRUE)
+
+  # the following skips xmllint
+  # ament_xmllint requires network and can timeout if on throttled networks
+  set(ament_cmake_xmllint_FOUND TRUE)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# # EXPORTS
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
+ament_package()
--- a/src/robotiq_2f/robotiq_controllers/controller_plugins.xml
+++ b/src/robotiq_2f/robotiq_controllers/controller_plugins.xml
@ -0,0 +1,7 @@
+<library path="robotiq_controllers">
+    <class name="robotiq_controllers/RobotiqActivationController" type="robotiq_controllers::RobotiqActivationController" base_class_type="controller_interface::ControllerInterface">
+        <description>
+            This controller provides an interface to (re-)activate the Robotiq gripper.
+        </description>
+    </class>
+</library>
--- a/src/robotiq_2f/robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp
+++ b/src/robotiq_2f/robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp
@ -0,0 +1,64 @@
+// Copyright (c) 2022 PickNik, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#pragma once
+
+#include "controller_interface/controller_interface.hpp"
+#include "std_srvs/srv/trigger.hpp"
+
+namespace robotiq_controllers
+{
+class RobotiqActivationController : public controller_interface::ControllerInterface
+{
+public:
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
+
+  CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
+
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
+
+  CallbackReturn on_init() override;
+
+private:
+  bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
+                         std_srvs::srv::Trigger::Response::SharedPtr resp);
+
+  static constexpr double ASYNC_WAITING = 2.0;
+  enum CommandInterfaces
+  {
+    REACTIVATE_GRIPPER_CMD,
+    REACTIVATE_GRIPPER_RESPONSE
+  };
+
+  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reactivate_gripper_srv_;
+};
+}  // namespace robotiq_controllers
--- a/src/robotiq_2f/robotiq_controllers/package.xml
+++ b/src/robotiq_2f/robotiq_controllers/package.xml
@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robotiq_controllers</name>
+  <version>0.0.1</version>
+  <description>Controllers for the Robotiq gripper.</description>
+  <maintainer email="alex.moriarty@picknik.ai">Alex Moriarty</maintainer>
+  <maintainer email="marq.rasmussen@picknik.ai">Marq Rasmussen</maintainer>
+  <license>BSD 3-Clause</license>
+  <author>Cory Crean</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>controller_interface</depend>
+  <depend>std_srvs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/robotiq_2f/robotiq_controllers/src/robotiq_activation_controller.cpp
+++ b/src/robotiq_2f/robotiq_controllers/src/robotiq_activation_controller.cpp
@ -0,0 +1,123 @@
+// Copyright (c) 2022 PickNik, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "robotiq_controllers/robotiq_activation_controller.hpp"
+
+namespace robotiq_controllers
+{
+controller_interface::InterfaceConfiguration RobotiqActivationController::command_interface_configuration() const
+{
+  controller_interface::InterfaceConfiguration config;
+  config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
+
+  config.names.emplace_back("reactivate_gripper/reactivate_gripper_cmd");
+  config.names.emplace_back("reactivate_gripper/reactivate_gripper_response");
+
+  return config;
+}
+
+controller_interface::InterfaceConfiguration RobotiqActivationController::state_interface_configuration() const
+{
+  controller_interface::InterfaceConfiguration config;
+  config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
+
+  return config;
+}
+
+controller_interface::return_type RobotiqActivationController::update(const rclcpp::Time& /*time*/,
+                                                                      const rclcpp::Duration& /*period*/)
+{
+  return controller_interface::return_type::OK;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+RobotiqActivationController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
+{
+  // Check command interfaces.
+  if (command_interfaces_.size() != 2)
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
+                 command_interfaces_.size());
+    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
+  }
+
+  try
+  {
+    // Create service for re-activating the gripper.
+    reactivate_gripper_srv_ = get_node()->create_service<std_srvs::srv::Trigger>(
+        "~/reactivate_gripper",
+        [this](std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp) {
+          this->reactivateGripper(req, resp);
+        });
+  }
+  catch (...)
+  {
+    return LifecycleNodeInterface::CallbackReturn::ERROR;
+  }
+  return LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
+{
+  try
+  {
+    reactivate_gripper_srv_.reset();
+  }
+  catch (...)
+  {
+    return LifecycleNodeInterface::CallbackReturn::ERROR;
+  }
+
+  return LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqActivationController::on_init()
+{
+  return LifecycleNodeInterface::CallbackReturn::SUCCESS;
+}
+
+bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
+                                                    std_srvs::srv::Trigger::Response::SharedPtr resp)
+{
+  command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
+  command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
+
+  while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  }
+  resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
+
+  return resp->success;
+}
+}  // namespace robotiq_controllers
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(robotiq_controllers::RobotiqActivationController, controller_interface::ControllerInterface)
--- a/src/servo_keyboard/package.xml
+++ b/src/servo_keyboard/package.xml
@ -11,11 +11,17 @@

  <!-- Dependencies -->
  <depend>rclcpp</depend>
+<<<<<<<< HEAD:src/servo_keyboard/package.xml
  <depend>control_msgs</depend>
  <depend>geometry_msgs</depend>
  <build_depend>controller_manager_msgs</build_depend>
  <exec_depend>controller_manager_msgs</exec_depend>

+========
+  <depend>rclcpp_lifecycle</depend>
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+>>>>>>>> origin/main:src/robotiq_2f/robotiq_2f_interface/package.xml

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>