CModelTcpNode.py

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#!/usr/bin/env python

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"""@package docstring
ROS node for controling a Robotiq C-Model gripper using the Modbus TCP protocol.

The script takes as an argument the IP address of the gripper. It initializes a baseCModel object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'CModelRobotInput' topic using the 'CModel_robot_input' msg type. The node subscribes to the 'CModelRobotOutput' topic for new commands using the 'CModel_robot_output' msg type. Examples are provided to control the gripper (CModelSimpleController.py) and interpreting its status (CModelStatusListener.py).
"""

import roslib; roslib.load_manifest('robotiq_c_model_control')
roslib.load_manifest('robotiq_modbus_tcp')
import rospy
import robotiq_c_model_control.baseCModel
import robotiq_modbus_tcp.comModbusTcp
import os, sys
from robotiq_c_model_control.msg import _CModel_robot_input  as inputMsg
from robotiq_c_model_control.msg import _CModel_robot_output as outputMsg

def mainLoop(address):
    
    #Gripper is a C-Model with a TCP connection
    gripper = robotiq_c_model_control.baseCModel.robotiqBaseCModel()
    gripper.client = robotiq_modbus_tcp.comModbusTcp.communication()

    #We connect to the address received as an argument
    gripper.client.connectToDevice(address)

    rospy.init_node('robotiqCModel')

    #The Gripper status is published on the topic named 'CModelRobotInput'
    pub = rospy.Publisher('CModelRobotInput', inputMsg.CModel_robot_input)

    #The Gripper command is received from the topic named 'CModelRobotOutput'
    rospy.Subscriber('CModelRobotOutput', outputMsg.CModel_robot_output, gripper.refreshCommand)    
    

    #We loop
    while not rospy.is_shutdown():

      #Get and publish the Gripper status
      status = gripper.getStatus()
      pub.publish(status)     

      #Wait a little
      rospy.sleep(0.05)

      #Send the most recent command
      gripper.sendCommand()

      #Wait a little
      rospy.sleep(0.05)
            
if __name__ == '__main__':
    try:
        #TODO: Add verification that the argument is an IP address
        mainLoop(sys.argv[1])
    except rospy.ROSInterruptException: pass