Robotiq Gripper Command tested on sim gripper
adapted the launch file to work properly
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@ -0,0 +1,60 @@
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**robotiq_2f Repository**
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***Overview***
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This repository provides a ROS2 integration for controlling the Robotiq 2F-85 and 2F-140 grippers. It combines elements from:
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* **ros2_robotiq_gripper:** [https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/main](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/main)
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* **robotiq_2f_urcap_adapter:** [https://github.com/fzi-forschungszentrum-informatik/robotiq_2f_urcap_adapter/tree/main](https://github.com/fzi-forschungszentrum-informatik/robotiq_2f_urcap_adapter/tree/main)
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It leverages the low-level socket communication provided by the robotiq_2f_urcap_adapter to create a new ROS2-compatible hardware interface.
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***Features***
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* **robotiq_2f_controllers:**
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* ForwardController
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* GripperCommand
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* RobotiqActivationController (inherited by ros2_robotiq_gripper)
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* **robotiq_2f_description:**
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* Configuration files for 85mm and 140mm grippers
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* Controller configuration files
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* Launch files for RViz visualization and controller activation
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* Meshes for visualization and collision detection
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* Modified URDF files
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* **robotiq_2f_interface:**
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* ROS2 hardware interface
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* Robotiq2fSocketAdapter
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* MockRobotiq2fSocketAdapter
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* **robotiq_2f_msgs:**
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* GripperCommand.action
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* ForwardCommand.msg
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***Socket Communication***
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Socket communication details: [https://dof.robotiq.com/discussion/2420/control-robotiq-gripper-mounted-on-ur-robot-via-socket-communication-python](https://dof.robotiq.com/discussion/2420/control-robotiq-gripper-mounted-on-ur-robot-via-socket-communication-python)
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***Robotiq Resources***
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* **Robotiq UR Cap:** [https://robotiq.com/products/2f85-140-adaptive-robot-gripper?ref=nav_product_new_button](https://robotiq.com/products/2f85-140-adaptive-robot-gripper?ref=nav_product_new_button)
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* **Quick Start Guide:** [https://blog.robotiq.com/hubfs/Support%20Documents/QSG/Quick_start_2Finger_e-Series_nocropmarks_EN.pdf](https://blog.robotiq.com/hubfs/Support%20Documents/QSG/Quick_start_2Finger_e-Series_nocropmarks_EN.pdf)
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***Parameters***
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* `robot_ip`: IP address of the robot controller
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* `robot_port`: Port for robot controller communication
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* `use_fake_hardware`: Start gripper with fake hardware mirroring command to its states.
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* `use_forward_controller`: Use forward controller instead of gripper command controller(action controller).
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* `prefix`: In case multiple grippers are used on the same UR Cap.
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* `description_file`: The type of the Gripper (85/140) is decided here.
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**robotiq_2f_gripper (config file)**
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* `min_position`: 0.0 (fully closed)
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* `max_position`: 0.14 (fully open)
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* `max_angle`: 0.695 (radians, closed)
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* `min_speed`: 0.02
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* `max_speed`: 0.15
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* `min_force`: 20.0
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* `max_force`: 235.0
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@ -12,12 +12,14 @@ find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(robotiq_2f_msgs REQUIRED)
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find_package(realtime_tools REQUIRED)
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find_package(std_srvs REQUIRED)
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include_directories(include)
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add_library(robotiq_2f_controllers SHARED
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src/robotiq_forward_controller.cpp
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src/robotiq_gripper_command_controller.cpp
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src/robotiq_activation_controller.cpp
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)
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ament_target_dependencies(${PROJECT_NAME}
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rclcpp
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@ -26,6 +28,7 @@ ament_target_dependencies(${PROJECT_NAME}
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pluginlib
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robotiq_2f_msgs
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realtime_tools
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std_srvs
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)
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pluginlib_export_plugin_description_file(controller_interface controller_plugin.xml)
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@ -9,4 +9,9 @@
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Gripper Command controller for Robotiq 2F Gripper.
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</description>
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</class>
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<class name="robotiq_2f_controllers/RobotiqActivationController" type="robotiq_controllers::RobotiqActivationController" base_class_type="controller_interface::ControllerInterface">
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<description>
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This controller provides an interface to (re-)activate the Robotiq gripper.
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</description>
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</class>
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</library>
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@ -10,6 +10,8 @@
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#include <queue>
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#include <mutex>
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#include <stdexcept> // For std::runtime_error
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#include <rclcpp/rclcpp.hpp>
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#include <rclcpp/qos.hpp>
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#include <rclcpp_lifecycle/lifecycle_node.hpp>
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@ -78,9 +80,11 @@ protected:
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std::vector<std::string> state_interface_types_;
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// Checker Methods
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bool command_interface_checker_();
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bool is_valid_goal(std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> goal);
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bool is_stalled(double current_position);
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bool is_goal_valid(std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> goal);
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bool is_stopped();
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// Action Interface
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std::queue<std::shared_ptr<GripperGoalHandle>> goal_queue_;
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std::shared_ptr<GripperGoalHandle> current_goal_handle_;
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@ -93,6 +97,8 @@ protected:
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void process_next_goal();
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void execute_goal(const std::shared_ptr<GripperGoalHandle> goal_handle);
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void publish_feedback();
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// Error Related
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bool stop_motion(double current_position);
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@ -111,22 +117,24 @@ protected:
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{"max_effort", &max_effort_command_interface_}};
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// State Interfaces
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std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
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std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
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joint_position_state_interface_;
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std::unordered_map<std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> *>
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std::unordered_map<std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface>> *>
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state_interface_map_ = {
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{"position", &joint_position_state_interface_}};
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// Addtional State variables
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double max_position_ = 0.0;
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double target_position_ = -1.0;
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double current_position_ = -1.0;
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double last_position_ = -1.0;
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int stall_counter_ = 0;
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bool cancel_requested_ = false;
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// Const
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const int MAX_STALL_COUNT = 5;
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const double POSITION_TOLERANCE = 0.01;
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const int MAX_STALL_COUNT = 200;
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const double POSITION_TOLERANCE = 0.0001;
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const double MIN_SPEED = 0.0;
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const double MIN_EFFORT = 0.0;
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@ -15,6 +15,7 @@
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<depend>pluginlib</depend>
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<depend>robotiq_2f_msgs</depend>
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<depend>realtime_tools</depend>
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<depend>std_srvs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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@ -26,7 +26,7 @@
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include "robotiq_controllers/robotiq_activation_controller.hpp"
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#include "robotiq_2f_controllers/robotiq_activation_controller.hpp"
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namespace robotiq_controllers
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{
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@ -10,6 +10,7 @@ RobotiqGripperCommandController::RobotiqGripperCommandController() : controller_
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controller_interface::CallbackReturn RobotiqGripperCommandController::on_init()
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{
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joint_name_ = auto_declare<std::string>("joint", joint_name_);
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max_position_ = auto_declare<double>("max_gap", max_position_);
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command_interface_types_ =
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auto_declare<std::vector<std::string>>("command_interfaces", command_interface_types_);
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state_interface_types_ =
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@ -17,7 +18,7 @@ controller_interface::CallbackReturn RobotiqGripperCommandController::on_init()
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if (joint_name_.empty()) {
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RCLCPP_ERROR(get_node()->get_logger(), "Missing 'joint_name' parameter.");
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RCLCPP_ERROR(get_node()->get_logger(), "Missing 'joint' parameter.");
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return CallbackReturn::ERROR;
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}
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else{
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@ -61,19 +62,14 @@ controller_interface::InterfaceConfiguration RobotiqGripperCommandController::st
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controller_interface::CallbackReturn RobotiqGripperCommandController::on_configure(const rclcpp_lifecycle::State &)
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{
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this->action_server_ = rclcpp_action::create_server<robotiq_2f_msgs::action::GripperCommand>(
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get_node()->get_node_base_interface(),
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get_node()->get_node_clock_interface(),
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get_node()->get_node_logging_interface(),
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get_node()->get_node_waitables_interface(),
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action_server_ = rclcpp_action::create_server<robotiq_2f_msgs::action::GripperCommand>(
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get_node(),
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"~/gripper_command",
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[this](const std::array<unsigned char, 16>& uuid, std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> goal) {
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return this->handle_goal(uuid, goal);
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},
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[this](std::shared_ptr<GripperGoalHandle> goal_handle) {return this->handle_cancel(goal_handle);},
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[this](std::shared_ptr<GripperGoalHandle> goal_handle) {this->handle_accepted(goal_handle);},
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rcl_action_server_get_default_options(),
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get_node()->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive)
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[this](std::shared_ptr<GripperGoalHandle> goal_handle) {this->handle_accepted(goal_handle);}
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);
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return CallbackReturn::SUCCESS;
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}
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@ -89,6 +85,7 @@ controller_interface::CallbackReturn RobotiqGripperCommandController::on_activat
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joint_position_command_interface_.clear();
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max_velocity_command_interface_.clear();
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max_effort_command_interface_.clear();
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joint_position_state_interface_.clear();
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// assign command interfaces
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for (auto & interface : command_interfaces_)
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@ -96,6 +93,19 @@ controller_interface::CallbackReturn RobotiqGripperCommandController::on_activat
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command_interface_map_[interface.get_interface_name()]->push_back(interface);
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}
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// assign state interface
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for (auto & interface : state_interfaces_)
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{
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state_interface_map_[interface.get_interface_name()]->push_back(interface);
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}
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RCLCPP_INFO(get_node()->get_logger(), "Checking if command interfaces are initialized corretly...");
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if (!command_interface_checker_())
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{
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return CallbackReturn::ERROR;
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}
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RCLCPP_INFO(get_node()->get_logger(), "Command interfaces correctly initialized!");
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return CallbackReturn::SUCCESS;
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}
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@ -105,12 +115,24 @@ controller_interface::return_type RobotiqGripperCommandController::update(const
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if (current_goal_handle_) {
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// Retrieve the current position of the gripper
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double current_position = joint_position_state_interface_[0].get().get_value();
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try
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{
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if (joint_position_state_interface_.empty())
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{
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throw std::runtime_error("State interface is not correctly initialized");
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}
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current_position_ = joint_position_state_interface_[0].get().get_value();
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} catch (const std::exception& e) {
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RCLCPP_FATAL(get_node()->get_logger(), "Failed to access state interface: %s", e.what());
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return controller_interface::return_type::ERROR;
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}
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// Check if the gripper is stalled
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if (is_stalled(current_position)) {
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if (is_stalled(current_position_)) {
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auto result = std::make_shared<robotiq_2f_msgs::action::GripperCommand::Result>();
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result->final_position = current_position;
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result->final_position = current_position_;
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result->reached_goal = false;
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result->stalled = true;
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current_goal_handle_->abort(result);
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@ -121,7 +143,7 @@ controller_interface::return_type RobotiqGripperCommandController::update(const
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// Check if the gripper has stopped after a cancel request
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if (cancel_requested_ && is_stopped()) {
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auto result = std::make_shared<robotiq_2f_msgs::action::GripperCommand::Result>();
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result->final_position = current_position;
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result->final_position = current_position_;
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result->reached_goal = false;
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result->stalled = false;
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current_goal_handle_->canceled(result); // Notify that the goal was canceled successfully
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@ -133,14 +155,12 @@ controller_interface::return_type RobotiqGripperCommandController::update(const
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}
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// Publish feedback about the current position
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auto feedback = std::make_shared<robotiq_2f_msgs::action::GripperCommand::Feedback>();
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feedback->current_position = current_position;
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current_goal_handle_->publish_feedback(feedback);
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publish_feedback();
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// Check if the target position is reached within a tolerance
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if (std::abs(current_position - target_position_) < POSITION_TOLERANCE) {
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if (std::abs(current_position_ - target_position_) < POSITION_TOLERANCE) {
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auto result = std::make_shared<robotiq_2f_msgs::action::GripperCommand::Result>();
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result->final_position = current_position;
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result->final_position = current_position_;
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result->reached_goal = true;
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result->stalled = false;
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current_goal_handle_->succeed(result);
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@ -156,9 +176,13 @@ controller_interface::return_type RobotiqGripperCommandController::update(const
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controller_interface::CallbackReturn RobotiqGripperCommandController::on_deactivate(const rclcpp_lifecycle::State & )
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{
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release_interfaces();
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return CallbackReturn::SUCCESS;
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RCLCPP_INFO(get_node()->get_logger(), "Deactivating and releasing interfaces.");
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release_interfaces(); // Ensure this function properly cleans up resources
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joint_position_command_interface_.clear();
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max_velocity_command_interface_.clear();
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max_effort_command_interface_.clear();
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joint_position_state_interface_.clear();
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return CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn RobotiqGripperCommandController::on_cleanup(const rclcpp_lifecycle::State & )
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@ -192,11 +216,17 @@ controller_interface::CallbackReturn RobotiqGripperCommandController::on_shutdow
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// Action Handling
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rclcpp_action::GoalResponse RobotiqGripperCommandController::handle_goal(const rclcpp_action::GoalUUID & goal_uuid,
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std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> /*goal*/)
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std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> goal)
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{
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(void)goal_uuid; // Suppress unused variable warning
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RCLCPP_INFO(get_node()->get_logger(), "Received goal request");
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return rclcpp_action::GoalResponse::ACCEPT_AND_DEFER;
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(void)goal_uuid; // Suppress unused variable warning
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RCLCPP_INFO(get_node()->get_logger(), "Received goal request with position: %f", goal->desired_position);
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if (!is_valid_goal(goal)) {
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RCLCPP_ERROR(get_node()->get_logger(), "Goal is invalid");
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return rclcpp_action::GoalResponse::REJECT;
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}
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return rclcpp_action::GoalResponse::ACCEPT_AND_DEFER;
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}
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rclcpp_action::CancelResponse RobotiqGripperCommandController::handle_cancel(const std::shared_ptr<GripperGoalHandle> goal_handle)
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@ -212,37 +242,115 @@ rclcpp_action::CancelResponse RobotiqGripperCommandController::handle_cancel(con
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void RobotiqGripperCommandController::handle_accepted(const std::shared_ptr<GripperGoalHandle> goal_handle)
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{
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goal_queue_.push(goal_handle);
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if (!current_goal_handle_) { // Only start a new goal if one isn't already active
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process_next_goal();
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}
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}
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void RobotiqGripperCommandController::publish_feedback()
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{
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if (!current_goal_handle_) {
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RCLCPP_ERROR(get_node()->get_logger(), "Goal handle is null, cannot publish feedback.");
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return;
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}
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if (current_goal_handle_->is_canceling()) {
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RCLCPP_WARN(get_node()->get_logger(), "Goal is being canceled, not publishing feedback.");
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return;
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}
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auto feedback = std::make_shared<robotiq_2f_msgs::action::GripperCommand::Feedback>();
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feedback->current_position = current_position_;
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try {
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current_goal_handle_->publish_feedback(feedback);
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} catch (const std::exception& e) {
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RCLCPP_FATAL(get_node()->get_logger(), "Failed to publish feedback: %s", e.what());
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}
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}
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void RobotiqGripperCommandController::process_next_goal()
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{
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std::lock_guard<std::mutex> lock(mutex_);
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if (goal_queue_.empty()) {
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current_goal_handle_.reset();
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RCLCPP_DEBUG(get_node()->get_logger(), "No more goals to process.");
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return;
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}
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current_goal_handle_ = goal_queue_.front();
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goal_queue_.pop();
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current_goal_handle_->execute();
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try {
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if (current_goal_handle_) {
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auto goal = current_goal_handle_->get_goal();
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target_position_ = goal->desired_position;
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double desired_max_velocity = goal->max_velocity;
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double desired_max_effort = goal->max_effort;
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if (!goal) {
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RCLCPP_ERROR(get_node()->get_logger(), "Received a null goal in queue, skipping...");
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process_next_goal(); // Recursively handle the next goal
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}
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else {
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try {
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auto goal = current_goal_handle_->get_goal();
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target_position_ = goal->desired_position;
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double desired_max_velocity = goal->max_velocity;
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double desired_max_effort = goal->max_effort;
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joint_position_command_interface_[0].get().set_value(target_position_);
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max_velocity_command_interface_[0].get().set_value(desired_max_velocity);
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max_effort_command_interface_[0].get().set_value(desired_max_effort);
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} catch (const std::exception& e) {
|
||||
RCLCPP_ERROR(get_node()->get_logger(), "Exception in process_next_goal: %s", e.what());
|
||||
if (!command_interface_checker_())
|
||||
{
|
||||
throw std::runtime_error("At least one interface is not initialized!");
|
||||
}
|
||||
|
||||
joint_position_command_interface_[0].get().set_value(target_position_);
|
||||
max_velocity_command_interface_[0].get().set_value(desired_max_velocity);
|
||||
max_effort_command_interface_[0].get().set_value(desired_max_effort);
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
RCLCPP_ERROR(get_node()->get_logger(), "Exception in process_next_goal: %s", e.what());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Utility
|
||||
bool RobotiqGripperCommandController::command_interface_checker_()
|
||||
{
|
||||
if (joint_position_command_interface_.empty()) {
|
||||
RCLCPP_FATAL(get_node()->get_logger(), "No position command interfaces have been configured.");
|
||||
return false;
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_node()->get_logger(), "Position command interfaces have been successfully initialized.");
|
||||
}
|
||||
|
||||
if (max_velocity_command_interface_.empty()) {
|
||||
RCLCPP_FATAL(get_node()->get_logger(), "No velocity command interfaces have been configured.");
|
||||
return false;
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_node()->get_logger(), "Velocity command interfaces have been successfully initialized.");
|
||||
}
|
||||
|
||||
if (max_effort_command_interface_.empty()) {
|
||||
RCLCPP_FATAL(get_node()->get_logger(), "No effort command interfaces have been configured.");
|
||||
return false;
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_node()->get_logger(), "Effort command interfaces have been successfully initialized.");
|
||||
}
|
||||
|
||||
if (joint_position_state_interface_.empty()) {
|
||||
RCLCPP_FATAL(get_node()->get_logger(), "No position state interfaces have been configured.");
|
||||
return false;
|
||||
} else {
|
||||
RCLCPP_DEBUG(get_node()->get_logger(), "Position stateinterfaces have been successfully initialized.");
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool RobotiqGripperCommandController::is_valid_goal(std::shared_ptr<const robotiq_2f_msgs::action::GripperCommand::Goal> goal) {
|
||||
// Add your validation logic here
|
||||
return goal->desired_position >= 0 && goal->desired_position <= max_position_;
|
||||
}
|
||||
|
||||
bool RobotiqGripperCommandController::is_stalled(double current_position)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
@ -253,7 +361,7 @@ bool RobotiqGripperCommandController::is_stalled(double current_position)
|
||||
}
|
||||
last_position_ = current_position;
|
||||
|
||||
return stall_counter_ > MAX_STALL_COUNT; // Consider it stalled if no movement for too many cycles
|
||||
return stall_counter_ > MAX_STALL_COUNT;
|
||||
}
|
||||
|
||||
bool RobotiqGripperCommandController::stop_motion(double current_position)
|
||||
|
||||
@ -5,12 +5,19 @@ controller_manager:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
forward_gripper_position_controller:
|
||||
type: robotiq_2f_controllers/ForwardController
|
||||
robotiq_gripper_controller:
|
||||
type: robotiq_2f_controllers/GripperCommand
|
||||
robotiq_activation_controller:
|
||||
type: robotiq_controllers/RobotiqActivationController
|
||||
type: robotiq_2f_controllers/RobotiqActivationController
|
||||
|
||||
forward_gripper_position_controller:
|
||||
ros__parameters:
|
||||
joint: gripper_gap
|
||||
joint: $(var prefix)gripper_gap
|
||||
|
||||
robotiq_gripper_controller:
|
||||
ros__parameters:
|
||||
joint: $(var prefix)gripper_gap
|
||||
max_gap: 0.14
|
||||
|
||||
robotiq_activation_controller:
|
||||
ros__parameters:
|
||||
|
||||
@ -1,95 +1,137 @@
|
||||
import launch
|
||||
from launch.substitutions import (
|
||||
Command,
|
||||
FindExecutable,
|
||||
LaunchConfiguration,
|
||||
PathJoinSubstitution,
|
||||
)
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.parameter_descriptions import ParameterFile, ParameterValue
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
from launch.conditions import IfCondition
|
||||
import launch_ros
|
||||
import os
|
||||
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
use_fake_hardware = 'true'
|
||||
use_fake_hardware_bool = use_fake_hardware == 'true'
|
||||
|
||||
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",
|
||||
declared_arguments = []
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_package",
|
||||
default_value="robotiq_2f_description",
|
||||
description="Description package with gripper URDF/XACRO files.",
|
||||
)
|
||||
)
|
||||
args.append(
|
||||
launch.actions.DeclareLaunchArgument(
|
||||
name="rvizconfig",
|
||||
default_value=default_rviz_config_path,
|
||||
description="Absolute path to rviz config file",
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"description_file",
|
||||
default_value="robotiq_2f_140.urdf.xacro",
|
||||
description="URDF/XACRO description file with the robot gripper.",
|
||||
)
|
||||
)
|
||||
args.append(
|
||||
launch.actions.DeclareLaunchArgument(
|
||||
name="launch_rviz", default_value="true", description="Launch RViz?"
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"prefix",
|
||||
default_value="",
|
||||
description="prefix of the joint names, useful for \
|
||||
multi-robot setup. If changed, also joint names in the controllers' configuration \
|
||||
have to be updated.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"use_fake_hardware",
|
||||
default_value="false",
|
||||
description="Start gripper with fake hardware mirroring command to its states.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_ip", description="IP address by which the robot can be reached."
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument(
|
||||
"robot_port",
|
||||
default_value="63352",
|
||||
description="Remote port for UR Cap.",
|
||||
)
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("launch_rviz", default_value="false", description="Launch RViz?")
|
||||
)
|
||||
declared_arguments.append(
|
||||
DeclareLaunchArgument("use_forward_controller",
|
||||
default_value="false",
|
||||
description="Use forward controller?")
|
||||
)
|
||||
return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
|
||||
|
||||
|
||||
def launch_setup(context, *args, **kwargs):
|
||||
|
||||
robot_ip = LaunchConfiguration("robot_ip")
|
||||
description_package = LaunchConfiguration("description_package")
|
||||
description_file = LaunchConfiguration("description_file")
|
||||
prefix = LaunchConfiguration("prefix")
|
||||
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
|
||||
robot_port = LaunchConfiguration("robot_port")
|
||||
launch_rviz = LaunchConfiguration("launch_rviz")
|
||||
use_forward_controller = LaunchConfiguration("use_forward_controller")
|
||||
|
||||
robot_description_content = Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
LaunchConfiguration("model"),
|
||||
PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
|
||||
" ",
|
||||
"prefix:=",
|
||||
prefix,
|
||||
" ",
|
||||
"use_fake_hardware:=",
|
||||
use_fake_hardware,
|
||||
" ",
|
||||
"robot_ip:=",
|
||||
robot_ip,
|
||||
" ",
|
||||
"robot_port:=",
|
||||
robot_port,
|
||||
" ",
|
||||
"use_fake_hardware:=true",
|
||||
]
|
||||
)
|
||||
robot_description_param = {
|
||||
"robot_description": launch_ros.parameter_descriptions.ParameterValue(
|
||||
robot_description_content, value_type=str
|
||||
)
|
||||
}
|
||||
|
||||
robot_description = {"robot_description": robot_description_content}
|
||||
|
||||
controllers_file = "robotiq_controllers.yaml"
|
||||
initial_joint_controllers = PathJoinSubstitution(
|
||||
[description_pkg_share, "config", controllers_file]
|
||||
[FindPackageShare(description_package), "config", controllers_file]
|
||||
)
|
||||
|
||||
control_node = launch_ros.actions.Node(
|
||||
control_node = Node(
|
||||
package="controller_manager",
|
||||
executable="ros2_control_node",
|
||||
parameters=[
|
||||
robot_description_param,
|
||||
initial_joint_controllers,
|
||||
robot_description,
|
||||
ParameterFile(initial_joint_controllers, allow_substs=True),
|
||||
],
|
||||
)
|
||||
|
||||
robot_state_publisher_node = launch_ros.actions.Node(
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
parameters=[robot_description_param],
|
||||
parameters=[robot_description],
|
||||
)
|
||||
|
||||
rviz_node = launch_ros.actions.Node(
|
||||
rviz_config_file = PathJoinSubstitution(
|
||||
[FindPackageShare(description_package), "rviz", "view_robot.rviz"]
|
||||
)
|
||||
|
||||
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="log",
|
||||
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||
condition=IfCondition(LaunchConfiguration("launch_rviz")),
|
||||
arguments=["-d", rviz_config_file],
|
||||
condition=IfCondition(launch_rviz),
|
||||
)
|
||||
|
||||
joint_state_broadcaster_spawner = launch_ros.actions.Node(
|
||||
joint_state_broadcaster_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=[
|
||||
@ -99,7 +141,7 @@ def generate_launch_description():
|
||||
],
|
||||
)
|
||||
|
||||
robotiq_activation_controller_spawner = launch_ros.actions.Node(
|
||||
robotiq_activation_controller_spawner = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
|
||||
@ -107,7 +149,7 @@ def generate_launch_description():
|
||||
|
||||
def controller_spawner(name, active=True):
|
||||
inactive_flags = ["--inactive"] if not active else []
|
||||
return launch_ros.actions.Node(
|
||||
return Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=[
|
||||
@ -117,12 +159,12 @@ def generate_launch_description():
|
||||
] + inactive_flags,
|
||||
)
|
||||
|
||||
if not use_fake_hardware_bool:
|
||||
controller_spawner_names = []
|
||||
if use_forward_controller.perform(context) == 'false':
|
||||
controller_spawner_names = ['robotiq_gripper_controller']
|
||||
controller_spawner_inactive_names = ["forward_gripper_position_controller"]
|
||||
else:
|
||||
controller_spawner_names = ["forward_gripper_position_controller"]
|
||||
controller_spawner_inactive_names = []
|
||||
controller_spawner_inactive_names = ['robotiq_gripper_controller']
|
||||
|
||||
controller_spawners = [controller_spawner(name) for name in controller_spawner_names] + [
|
||||
controller_spawner(name, active=False) for name in controller_spawner_inactive_names
|
||||
@ -136,4 +178,4 @@ def generate_launch_description():
|
||||
rviz_node,
|
||||
] + controller_spawners
|
||||
|
||||
return launch.LaunchDescription(args + nodes)
|
||||
return nodes
|
||||
@ -4,9 +4,11 @@ Panels:
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.6264705657958984
|
||||
Tree Height: 555
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 719
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
@ -56,7 +58,7 @@ Visualization Manager:
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: robot_description
|
||||
Value: /robot_description
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
@ -64,78 +66,70 @@ Visualization Manager:
|
||||
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:
|
||||
Value: true
|
||||
robotiq_140_base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_base_link:
|
||||
robotiq_140_left_inner_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_finger_dist_link:
|
||||
robotiq_140_left_inner_finger_pad:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
left_finger_prox_link:
|
||||
robotiq_140_left_inner_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
lower_wrist_link:
|
||||
robotiq_140_left_outer_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_finger_dist_link:
|
||||
robotiq_140_left_outer_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
right_finger_prox_link:
|
||||
robotiq_140_right_inner_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
shoulder_link:
|
||||
robotiq_140_right_inner_finger_pad:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
table:
|
||||
robotiq_140_right_inner_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
tool_frame:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
upper_wrist_link:
|
||||
robotiq_140_right_outer_finger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
robotiq_140_right_outer_knuckle:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
robotiq_base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
world:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
@ -194,33 +188,33 @@ Visualization Manager:
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 2.1567115783691406
|
||||
Distance: 1.321521282196045
|
||||
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
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
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
|
||||
Pitch: 0.30539846420288086
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.785398006439209
|
||||
Yaw: 1.455397367477417
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 846
|
||||
Height: 1016
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c90000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
@ -229,6 +223,6 @@ Window Geometry:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1200
|
||||
X: 1989
|
||||
Y: 261
|
||||
Width: 1850
|
||||
X: 1990
|
||||
Y: 27
|
||||
|
||||
@ -437,7 +437,7 @@
|
||||
</joint>
|
||||
|
||||
<!-- Pseudo Link and Joint for gripper gap -->
|
||||
<link name="dummy_link">
|
||||
<link name="${prefix}dummy_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/> <!-- Very small, effectively invisible -->
|
||||
@ -455,7 +455,7 @@
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_gap" type="prismatic">
|
||||
<parent link="dummy_link"/>
|
||||
<parent link="${prefix}dummy_link"/>
|
||||
<child link="${prefix}robotiq_140_right_inner_finger_pad"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/> <!-- Set origin appropriately -->
|
||||
<axis xyz="0 1 0"/> <!-- Axis of movement; adjust according to actual alignment -->
|
||||
|
||||
@ -1,9 +0,0 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
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
|
||||
@ -1,84 +0,0 @@
|
||||
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()
|
||||
@ -1,7 +0,0 @@
|
||||
<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>
|
||||
@ -1,23 +0,0 @@
|
||||
<?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>
|
||||
Loading…
Reference in New Issue
Block a user