Robotiq3FGripperTcpNode.py

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#!/usr/bin/env python

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"""@package docstring
ROS node for controling a Robotiq 3F gripper gripper using the Modbus TCP protocol.

The script takes as an argument the IP address of the gripper. It initializes a baseRobotiq3FGripper 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 'Robotiq3FGripperRobotInput' topic using the 'Robotiq3FGripper_robot_input' msg type. The node subscribes to the 'Robotiq3FGripperRobotOutput' topic for new commands using the 'Robotiq3FGripper_robot_output' msg type. Examples are provided to control the gripper (Robotiq3FGripperSimpleController.py) and interpreting its status (Robotiq3FGripperStatusListener.py).
"""

import roslib;

roslib.load_manifest('robotiq_3f_gripper_control')
roslib.load_manifest('robotiq_modbus_tcp')
import rospy
import robotiq_3f_gripper_control.baseRobotiq3FGripper
import robotiq_modbus_tcp.comModbusTcp
import sys
from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotInput
from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput


def mainLoop(address):
    # Gripper is a 3F gripper with a TCP connection
    gripper = robotiq_3f_gripper_control.baseRobotiq3FGripper.robotiqbaseRobotiq3FGripper()
    gripper.client = robotiq_modbus_tcp.comModbusTcp.communication()

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

    rospy.init_node('robotiq3FGripper')

    # The Gripper status is published on the topic named 'Robotiq3FGripperRobotInput'
    pub = rospy.Publisher('Robotiq3FGripperRobotInput', Robotiq3FGripperRobotInput, queue_size=1)

    # The Gripper command is received from the topic named 'Robotiq3FGripperRobotOutput'
    rospy.Subscriber('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput, 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