TeleopGripperClient Class Reference

Client class for teleoperating a follower gripper from a leader gripper. More...

Public Member Functions
bool	init (const std::shared_ptr< ros::NodeHandle > &pnh)
	TeleopGripperClient ()

Private Member Functions
bool	homingGripper ()
void	subscriberCallback (const sensor_msgs::JointState &msg)
void	teleopGripperParamCallback (const franka_example_controllers::teleop_gripper_paramConfig &config, uint32_t)

Private Attributes
std::mutex	dynamic_reconfigure_mutex_
ros::NodeHandle	dynamic_reconfigure_teleop_gripper_param_node_
std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::teleop_gripper_paramConfig > >	dynamic_server_teleop_gripper_param_
HomingClient	follower_homing_client_
GraspClient	grasp_client_
double	grasp_epsilon_inner_ {0.001}
double	grasp_epsilon_outer_scaling_ {100}
double	grasp_force_
bool	grasping_
bool	gripper_homed_
HomingClient	leader_homing_client_
ros::Subscriber	leader_sub_
double	max_width_ {0.07}
MoveClient	move_client_
double	move_speed_
double	start_pos_grasping_ {0.5}
double	start_pos_opening_ {0.6}
StopClient	stop_client_
std::mutex	subscriber_mutex_

Detailed Description

Client class for teleoperating a follower gripper from a leader gripper.

By closing the leader gripper manually, exceeding a defined width threshold, a ROS action is called and the follower gripper will grasp an object with a configurable force. When opening the leader gripper, the follower gripper will also open.

Definition at line 35 of file teleop_gripper_node.cpp.

Constructor & Destructor Documentation

TeleopGripperClient()

TeleopGripperClient::TeleopGripperClient ( )

inline

Definition at line 37 of file teleop_gripper_node.cpp.

Member Function Documentation

homingGripper()

bool TeleopGripperClient::homingGripper ( )

inlineprivate

Definition at line 128 of file teleop_gripper_node.cpp.

init()

bool TeleopGripperClient::init ( const std::shared_ptr< ros::NodeHandle > &  pnh )

inline

Definition at line 44 of file teleop_gripper_node.cpp.

subscriberCallback()

void TeleopGripperClient::subscriberCallback ( const sensor_msgs::JointState &  msg )

inlineprivate

Definition at line 143 of file teleop_gripper_node.cpp.

teleopGripperParamCallback()

void TeleopGripperClient::teleopGripperParamCallback ( const franka_example_controllers::teleop_gripper_paramConfig &  config, uint32_t    )

inlineprivate

Definition at line 116 of file teleop_gripper_node.cpp.

Member Data Documentation

dynamic_reconfigure_mutex_

std::mutex TeleopGripperClient::dynamic_reconfigure_mutex_

private

Definition at line 110 of file teleop_gripper_node.cpp.

dynamic_reconfigure_teleop_gripper_param_node_

ros::NodeHandle TeleopGripperClient::dynamic_reconfigure_teleop_gripper_param_node_

private

Definition at line 111 of file teleop_gripper_node.cpp.

dynamic_server_teleop_gripper_param_

std::unique_ptr< dynamic_reconfigure::Server<franka_example_controllers::teleop_gripper_paramConfig> > TeleopGripperClient::dynamic_server_teleop_gripper_param_

private

Definition at line 114 of file teleop_gripper_node.cpp.

follower_homing_client_

HomingClient TeleopGripperClient::follower_homing_client_

private

Definition at line 101 of file teleop_gripper_node.cpp.

grasp_client_

GraspClient TeleopGripperClient::grasp_client_

private

Definition at line 103 of file teleop_gripper_node.cpp.

grasp_epsilon_inner_

double TeleopGripperClient::grasp_epsilon_inner_ {0.001}

private

Definition at line 94 of file teleop_gripper_node.cpp.

grasp_epsilon_outer_scaling_

double TeleopGripperClient::grasp_epsilon_outer_scaling_ {100}

private

Definition at line 95 of file teleop_gripper_node.cpp.

grasp_force_

double TeleopGripperClient::grasp_force_

private

Definition at line 93 of file teleop_gripper_node.cpp.

grasping_

bool TeleopGripperClient::grasping_

private

Definition at line 90 of file teleop_gripper_node.cpp.

gripper_homed_

bool TeleopGripperClient::gripper_homed_

private

Definition at line 91 of file teleop_gripper_node.cpp.

leader_homing_client_

HomingClient TeleopGripperClient::leader_homing_client_

private

Definition at line 102 of file teleop_gripper_node.cpp.

leader_sub_

ros::Subscriber TeleopGripperClient::leader_sub_

private

Definition at line 108 of file teleop_gripper_node.cpp.

max_width_

double TeleopGripperClient::max_width_ {0.07}

private

Definition at line 89 of file teleop_gripper_node.cpp.

move_client_

MoveClient TeleopGripperClient::move_client_

private

Definition at line 104 of file teleop_gripper_node.cpp.

move_speed_

double TeleopGripperClient::move_speed_

private

Definition at line 96 of file teleop_gripper_node.cpp.

start_pos_grasping_

double TeleopGripperClient::start_pos_grasping_ {0.5}

private

Definition at line 98 of file teleop_gripper_node.cpp.

start_pos_opening_

double TeleopGripperClient::start_pos_opening_ {0.6}

private

Definition at line 99 of file teleop_gripper_node.cpp.

stop_client_

StopClient TeleopGripperClient::stop_client_

private

Definition at line 105 of file teleop_gripper_node.cpp.

subscriber_mutex_

std::mutex TeleopGripperClient::subscriber_mutex_

private

Definition at line 107 of file teleop_gripper_node.cpp.

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The documentation for this class was generated from the following file:

• teleop_gripper_node.cpp