00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2009, Willow Garage, Inc. 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above 00013 * copyright notice, this list of conditions and the following 00014 * disclaimer in the documentation and/or other materials provided 00015 * with the distribution. 00016 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 #ifndef GRIPPER_CONTROLLER_H 00035 #define GRIPPER_CONTROLLER_H 00036 00037 #include <ros/ros.h> 00038 00039 #include <actionlib/client/simple_action_client.h> 00040 00041 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h> 00042 00043 #include <sensor_msgs/JointState.h> 00044 00045 #include <object_manipulator/tools/service_action_wrappers.h> 00046 00047 namespace pr2_interactive_manipulation { 00048 00049 class GripperController 00050 { 00051 private: 00052 00054 ros::NodeHandle root_nh_; 00055 00057 ros::NodeHandle priv_nh_; 00058 00060 object_manipulator::MultiArmActionWrapper<pr2_controllers_msgs::Pr2GripperCommandAction> gripper_action_client_; 00061 00063 std::string virtualJointName(std::string arm_name); 00064 public: 00065 GripperController(); 00066 00067 ~GripperController(); 00068 00069 //------------------------------ Functionality ------------------------------- 00070 00072 bool getGripperValue(std::string arm_name, double &value); 00073 00075 bool commandGripperValue(std::string arm_name, double value); 00076 00077 //-------------------------------- Constants --------------------------------- 00078 00080 static const double GRIPPER_OPEN; 00082 static const double GRIPPER_CLOSED; 00083 }; 00084 00085 } 00086 00087 #endif