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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef PR2_GRIPPER_CONTROLLER_H__ 00036 #define PR2_GRIPPER_CONTROLLER_H__ 00037 00061 #include <ros/node_handle.h> 00062 00063 #include <pr2_controller_interface/controller.h> 00064 #include <control_toolbox/pid.h> 00065 #include <control_toolbox/pid_gains_setter.h> 00066 #include <boost/scoped_ptr.hpp> 00067 #include <boost/thread/condition.hpp> 00068 #include <realtime_tools/realtime_box.h> 00069 #include <realtime_tools/realtime_publisher.h> 00070 #include <std_msgs/Float64.h> 00071 00072 #include <pr2_controllers_msgs/JointControllerState.h> 00073 #include <pr2_controllers_msgs/Pr2GripperCommand.h> 00074 00075 namespace controller 00076 { 00077 00078 class Pr2GripperController : public pr2_controller_interface::Controller 00079 { 00080 public: 00081 00082 Pr2GripperController(); 00083 ~Pr2GripperController(); 00084 00085 bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 00086 00087 virtual void starting() { 00088 using namespace pr2_controllers_msgs; 00089 Pr2GripperCommandPtr c(new Pr2GripperCommand); 00090 c->position = joint_state_->position_; 00091 c->max_effort = 0.0; 00092 command_box_.set(c); 00093 } 00094 00098 virtual void update(); 00099 00100 pr2_mechanism_model::JointState *joint_state_; 00101 realtime_tools::RealtimeBox<pr2_controllers_msgs::Pr2GripperCommandConstPtr> command_box_; 00102 00103 private: 00104 int loop_count_; 00105 pr2_mechanism_model::RobotState *robot_; 00106 control_toolbox::Pid pid_; 00107 ros::Time last_time_; 00108 00109 ros::NodeHandle node_; 00110 00111 boost::scoped_ptr< 00112 realtime_tools::RealtimePublisher< 00113 pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ; 00114 00115 ros::Subscriber sub_command_; 00116 void commandCB(const pr2_controllers_msgs::Pr2GripperCommandConstPtr& msg); 00117 }; 00118 00119 } // namespace 00120 00121 #endif