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00038 """@package docstring
00039 Command-line interface for receiving and interpreting the status of a S-Model gripper.
00040
00041 This serves as an example for receiving messages from the 'SModelRobotInput' topic using the 'SModel_robot_input' msg type and interpreting the corresponding status of the S-Model gripper.
00042 """
00043
00044 import roslib; roslib.load_manifest('robotiq_s_model_control')
00045 import rospy
00046 from std_msgs.msg import String
00047 from robotiq_s_model_control.msg import _SModel_robot_input as inputMsg
00048
00049 def printStatus(status):
00050 """Print the status string generated by the statusInterpreter function."""
00051
00052 print statusInterpreter(status)
00053
00054 def SModelStatusListener():
00055 """Initialize the node and subscribe to the SModelRobotInput topic."""
00056
00057 rospy.init_node('SModelStatusListener')
00058 rospy.Subscriber("SModelRobotInput", inputMsg.SModel_robot_input, printStatus)
00059 rospy.spin()
00060
00061 def statusInterpreter(status):
00062 """Generate a string according to the current value of the status variables."""
00063
00064 output = '\n-----\nS-Model status interpreter\n-----\n'
00065
00066
00067 output += 'gACT = ' + str(status.gACT) + ': '
00068 if(status.gACT == 0):
00069 output += 'Gripper reset\n'
00070 if(status.gACT == 1):
00071 output += 'Gripper activation\n'
00072
00073
00074 output += 'gMOD = ' + str(status.gMOD) + ': '
00075 if(status.gMOD == 0):
00076 output += 'Basic Mode\n'
00077 if(status.gMOD == 1):
00078 output += 'Pinch Mode\n'
00079 if(status.gMOD == 2):
00080 output += 'Wide Mode\n'
00081 if(status.gMOD == 3):
00082 output += 'Scissor Mode\n'
00083
00084
00085 output += 'gGTO = ' + str(status.gGTO) + ': '
00086 if(status.gGTO == 0):
00087 output += 'Stopped (or performing activation/grasping mode change/automatic release)\n'
00088 if(status.gGTO == 1):
00089 output += 'Go to Position Request\n'
00090
00091
00092 output += 'gIMC = ' + str(status.gIMC) + ': '
00093 if(status.gIMC == 0):
00094 output += 'Gripper is in reset (or automatic release) state. see Fault Status if Gripper is activated\n'
00095 if(status.gIMC == 1):
00096 output += 'Activation in progress\n'
00097 if(status.gIMC == 2):
00098 output += 'Mode change in progress\n'
00099 if(status.gIMC == 3):
00100 output += 'Activation and mode change are completed\n'
00101
00102
00103 output += 'gSTA = ' + str(status.gSTA) + ': '
00104 if(status.gSTA == 0):
00105 output += 'Gripper is in motion towards requested position (only meaningful if gGTO = 1)\n'
00106 if(status.gSTA == 1):
00107 output += 'Gripper is stopped. One or two fingers stopped before requested position\n'
00108 if(status.gSTA == 2):
00109 output += 'Gripper is stopped. All fingers stopped before requested position\n'
00110 if(status.gSTA == 3):
00111 output += 'Gripper is stopped. All fingers reached requested position\n'
00112
00113
00114 output += 'gDTA = ' + str(status.gDTA) + ': '
00115 if(status.gDTA == 0):
00116 output += 'Finger A is in motion (only meaningful if gGTO = 1)\n'
00117 if(status.gDTA == 1):
00118 output += 'Finger A has stopped due to a contact while opening\n'
00119 if(status.gDTA == 2):
00120 output += 'Finger A has stopped due to a contact while closing\n'
00121 if(status.gDTA == 3):
00122 output += 'Finger A is at requested position\n'
00123
00124
00125 output += 'gDTB = ' + str(status.gDTB) + ': '
00126 if(status.gDTB == 0):
00127 output += 'Finger B is in motion (only meaningful if gGTO = 1)\n'
00128 if(status.gDTB == 1):
00129 output += 'Finger B has stopped due to a contact while opening\n'
00130 if(status.gDTB == 2):
00131 output += 'Finger B has stopped due to a contact while closing\n'
00132 if(status.gDTB == 3):
00133 output += 'Finger B is at requested position\n'
00134
00135
00136 output += 'gDTC = ' + str(status.gDTC) + ': '
00137 if(status.gDTC == 0):
00138 output += 'Finger C is in motion (only meaningful if gGTO = 1)\n'
00139 if(status.gDTC == 1):
00140 output += 'Finger C has stopped due to a contact while opening\n'
00141 if(status.gDTC == 2):
00142 output += 'Finger C has stopped due to a contact while closing\n'
00143 if(status.gDTC == 3):
00144 output += 'Finger C is at requested position\n'
00145
00146
00147 output += 'gDTS = ' + str(status.gDTS) + ': '
00148 if(status.gDTS == 0):
00149 output += 'Scissor is in motion (only meaningful if gGTO = 1)\n'
00150 if(status.gDTS == 1):
00151 output += 'Scissor has stopped due to a contact while opening\n'
00152 if(status.gDTS == 2):
00153 output += 'Scissor has stopped due to a contact while closing\n'
00154 if(status.gDTS == 3):
00155 output += 'Scissor is at requested position\n'
00156
00157
00158 output += 'gFLT = ' + str(status.gFLT) + ': '
00159 if(status.gFLT == 0x00):
00160 output += 'No Fault\n'
00161 if(status.gFLT == 0x05):
00162 output += 'Priority Fault: Action delayed, activation (reactivation) must be completed prior to action\n'
00163 if(status.gFLT == 0x06):
00164 output += 'Priority Fault: Action delayed, mode change must be completed prior to action\n'
00165 if(status.gFLT == 0x07):
00166 output += 'Priority Fault: The activation bit must be set prior to action\n'
00167 if(status.gFLT == 0x09):
00168 output += 'Minor Fault: The communication chip is not ready\n'
00169 if(status.gFLT == 0x0A):
00170 output += 'Minor Fault: Changing mode fault, interferences detected on Scissor (for less than 20 sec)\n'
00171 if(status.gFLT == 0x0B):
00172 output += 'Minor Fault: Automatic release in progress\n'
00173 if(status.gFLT == 0x0D):
00174 output += 'Major Fault: Activation fault, verify that no interference or other error occured\n'
00175 if(status.gFLT == 0x0E):
00176 output += 'Major Fault: Changing mode fault, interferences detected on Scissor (for more than 20 sec)\n'
00177 if(status.gFLT == 0x0F):
00178 output += 'Major Fault: Automatic release completed. Reset and activation is required\n'
00179
00180
00181 output += 'gPRA = ' + str(status.gPRA) + ': '
00182 output += 'Echo of the requested position for the Gripper (or finger A in individual mode): ' + str(status.gPRA) + '/255\n'
00183
00184
00185 output += 'gPOA = ' + str(status.gPOA) + ': '
00186 output += 'Position of Finger A: ' + str(status.gPOA) + '/255\n'
00187
00188
00189 output += 'gCUA = ' + str(status.gCUA) + ': '
00190 output += 'Current of Finger A: ' + str(status.gCUA * 10) + ' mA\n'
00191
00192
00193 output += 'gPRB = ' + str(status.gPRB) + ': '
00194 output += 'Echo of the requested position for finger B: ' + str(status.gPRB) + '/255\n'
00195
00196
00197 output += 'gPOB = ' + str(status.gPOB) + ': '
00198 output += 'Position of Finger B: ' + str(status.gPOB) + '/255\n'
00199
00200
00201 output += 'gCUB = ' + str(status.gCUB) + ': '
00202 output += 'Current of Finger B: ' + str(status.gCUB * 10) + ' mA\n'
00203
00204
00205 output += 'gPRC = ' + str(status.gPRC) + ': '
00206 output += 'Echo of the requested position for finger C: ' + str(status.gPRC) + '/255\n'
00207
00208
00209 output += 'gPOC = ' + str(status.gPOC) + ': '
00210 output += 'Position of Finger C: ' + str(status.gPOC) + '/255\n'
00211
00212
00213 output += 'gCUC = ' + str(status.gCUC) + ': '
00214 output += 'Current of Finger C: ' + str(status.gCUC * 10) + ' mA\n'
00215
00216
00217 output += 'gPRS = ' + str(status.gPRS) + ': '
00218 output += 'Echo of the requested position for the scissor axis: ' + str(status.gPRS) + '/255\n'
00219
00220
00221 output += 'gPOS = ' + str(status.gPOS) + ': '
00222 output += 'Position of the scissor axis: ' + str(status.gPOS) + '/255\n'
00223
00224
00225 output += 'gCUS = ' + str(status.gCUS) + ': '
00226 output += 'Current of the scissor axis: ' + str(status.gCUS * 10) + ' mA\n'
00227
00228 return output
00229
00230 if __name__ == '__main__':
00231 SModelStatusListener()