Program Listing for File parallel_gripper.h
↰ Return to documentation for file (/tmp/ws/src/robot_controllers/robot_controllers/include/robot_controllers/parallel_gripper.h
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Fetch Robotics Inc.
* All rights reserved.
*
* 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 Fetch Robotics Inc. 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 OWNER 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.
*********************************************************************/
// Author: Michael Ferguson
#ifndef ROBOT_CONTROLLERS__PARALLEL_GRIPPER_H_
#define ROBOT_CONTROLLERS__PARALLEL_GRIPPER_H_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "robot_controllers/pid.h"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/joint_handle.h"
#include "robot_controllers_interface/controller_manager.h"
#include "control_msgs/action/gripper_command.hpp"
namespace robot_controllers
{
class ParallelGripperController : public robot_controllers_interface::Controller
{
using GripperCommandAction = control_msgs::action::GripperCommand;
using GripperCommandGoal = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
public:
ParallelGripperController() :
use_centering_controller_(false) {}
virtual ~ParallelGripperController() {}
virtual int init(const std::string& name,
rclcpp::Node::SharedPtr node,
robot_controllers_interface::ControllerManagerPtr manager);
virtual bool start();
virtual bool stop(bool force);
virtual bool reset();
virtual void update(const rclcpp::Time& now, const rclcpp::Duration& dt);
virtual std::string getType()
{
return "robot_controllers/ParallelGripperController";
}
virtual std::vector<std::string> getCommandedNames();
virtual std::vector<std::string> getClaimedNames();
private:
// rclcpp callbacks
rclcpp_action::GoalResponse handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const GripperCommandAction::Goal> goal_handle);
rclcpp_action::CancelResponse handle_cancel(
const std::shared_ptr<GripperCommandGoal> goal_handle);
void handle_accepted(const std::shared_ptr<GripperCommandGoal> goal_handle);
void publishCallback();
rclcpp::Node::SharedPtr node_;
robot_controllers_interface::ControllerManagerPtr manager_;
robot_controllers_interface::JointHandlePtr left_;
robot_controllers_interface::JointHandlePtr right_;
double goal_, effort_, max_position_, max_effort_;
rclcpp_action::Server<GripperCommandAction>::SharedPtr server_;
std::shared_ptr<GripperCommandAction::Feedback> feedback_;
std::shared_ptr<GripperCommandGoal> active_goal_;
rclcpp::TimerBase::SharedPtr publish_timer_;
// For stall detection
double last_position_;
rclcpp::Time last_position_time_;
// Mainly used in simulation to keep fingers from wandering off to one side
bool use_centering_controller_;
robot_controllers::PID centering_pid_;
};
} // namespace robot_controllers
#endif // ROBOT_CONTROLLERS__PARALLEL_GRIPPER_H_