Simulate the franka_gripper_node. More...

#include <franka_gripper_sim.h>

Inheritance diagram for franka_gazebo::FrankaGripperSim:

Classes
struct	Config

Public Types
enum	State { IDLE, HOLDING, MOVING, GRASPING }

Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Member Functions
bool	init (hardware_interface::EffortJointInterface *hw, ros::NodeHandle &nh) override

void	starting (const ros::Time &) override

void	update (const ros::Time &now, const ros::Duration &period) override

Public Member Functions inherited from controller_interface::Controller< hardware_interface::EffortJointInterface >
virtual bool	init (T *, ros::NodeHandle &)

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Member Functions
void	control (hardware_interface::JointHandle &joint, control_toolbox::Pid &, double q_d, double dq_d, double f_d, const ros::Duration &period)

bool	grasp (double width, double speed, double force, const franka_gripper::GraspEpsilon &epsilon)
	libfranka-like method to grasp an object with the gripper More...

void	interrupt (const std::string &message, const State &except)
	Interrupt any running action server unless the gripper is currently in a specific state. More...

bool	move (double width, double speed)
	libfranka-like method to move the gripper to a certain position More...

void	onGraspGoal (const franka_gripper::GraspGoalConstPtr &goal)

void	onGripperActionGoal (const control_msgs::GripperCommandGoalConstPtr &goal)

void	onHomingGoal (const franka_gripper::HomingGoalConstPtr &goal)

void	onMoveGoal (const franka_gripper::MoveGoalConstPtr &goal)

void	onStopGoal (const franka_gripper::StopGoalConstPtr &goal)

void	setConfig (const Config &&config)

void	setState (const State &&state)

void	transition (const State &&state, const Config &&config)

void	waitUntilStateChange ()

Private Attributes
std::unique_ptr< actionlib::SimpleActionServer< control_msgs::GripperCommandAction > >	action_gc_

std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::GraspAction > >	action_grasp_

std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::HomingAction > >	action_homing_

std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::MoveAction > >	action_move_

std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::StopAction > >	action_stop_

Config	config_

hardware_interface::JointHandle	finger1_

hardware_interface::JointHandle	finger2_

std::mutex	mutex_

control_toolbox::Pid	pid1_

control_toolbox::Pid	pid2_

realtime_tools::RealtimePublisher< sensor_msgs::JointState >	pub_

franka_hw::TriggerRate	rate_trigger_ {30.0}

double	speed_default_

int	speed_samples_

double	speed_threshold_

State	state_ = State::IDLE

double	tolerance_gripper_action_
	[m] inner + outer position tolerances used during gripper action More...

double	tolerance_move_
	[m] inner + outer position tolerances used during grasp More...

Additional Inherited Members
Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions inherited from controller_interface::Controller< hardware_interface::EffortJointInterface >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Detailed Description

Simulate the franka_gripper_node.

Internally this is done via ROS control. This controller assumes there are two finger joints in the URDF which can be effort (force) controlled. It simulates the behavior of the real franka_gripper by offering the same actions:

homing: Execute a homing motion, i.e open and close the gripper fully. This is only a mock implementation for the sake of offering the complete action interface similar to franka_gripper
move: Move the gripper with a desired velocity to a certain width.
grasp: Close the gripper until it stops because of a contact. If then the gripper width is within a user specified range a certain force is applied
stop: Stop any previous motion, or the excertion of forces on currently grasped objects
gripper_action: A standard gripper action recognized by MoveIt!

NOTE: The grasp action has a bug, that it will not succeed nor abort if the target width lets the fingers open. This is because of missing the joint limits interface which lets the finger oscillate at their limits.

Definition at line 61 of file franka_gripper_sim.h.

Member Enumeration Documentation

◆ State

enum franka_gazebo::FrankaGripperSim::State

Enumerator
IDLE	Gripper is not actively controlled, but tracks the other finger to simulate a mimicked joint.
HOLDING	Gripper is holding position and tracking zero velocity while mainting a desired force.
MOVING	Gripper is tracking a desired position and velocity.
GRASPING	Gripper is tracking a desired position and velocity. On contact it switches to `HOLDING` if inside the epsilon of the desired grasping width otherwise back to `IDLE`

Definition at line 64 of file franka_gripper_sim.h.

Member Function Documentation

◆ control()

void franka_gazebo::FrankaGripperSim::control	(	hardware_interface::JointHandle &	joint,
		control_toolbox::Pid &	pid,
		double	q_d,
		double	dq_d,
		double	f_d,
		const ros::Duration &	period
	)

private

Definition at line 190 of file franka_gripper_sim.cpp.

◆ grasp()

bool franka_gazebo::FrankaGripperSim::grasp	(	double	width,
		double	speed,
		double	force,
		const franka_gripper::GraspEpsilon &	epsilon
	)

private

libfranka-like method to grasp an object with the gripper

Parameters

[in]	width	Size of the object to grasp. [m]
[in]	speed	Closing speed. [m/s]
[in]	force	Grasping force. [N]
[in]	epsilon	Maximum tolerated deviation between the commanded width and the desired width

Returns: True if the object could be grasped, false otherwise

Definition at line 492 of file franka_gripper_sim.cpp.

◆ init()

bool franka_gazebo::FrankaGripperSim::init	(	hardware_interface::EffortJointInterface *	hw,
		ros::NodeHandle &	nh
	)

override

Definition at line 16 of file franka_gripper_sim.cpp.

◆ interrupt()

void franka_gazebo::FrankaGripperSim::interrupt	(	const std::string &	message,
		const State &	except
	)

private

Interrupt any running action server unless the gripper is currently in a specific state.

Parameters

[in]	message	The message to send via the result of all running actions
[in]	except	If the gripper is currently in this state, don't interrupt any actions

Definition at line 217 of file franka_gripper_sim.cpp.

◆ move()

bool franka_gazebo::FrankaGripperSim::move	(	double	width,
		double	speed
	)

private

libfranka-like method to move the gripper to a certain position

Parameters

[in]	width	Intended opening width. [m]
[in]	speed	Closing speed. [m/s]

Returns: True if the command was successful, false otherwise.

Definition at line 480 of file franka_gripper_sim.cpp.

◆ onGraspGoal()

void franka_gazebo::FrankaGripperSim::onGraspGoal ( const franka_gripper::GraspGoalConstPtr & goal )

private

Definition at line 364 of file franka_gripper_sim.cpp.

◆ onGripperActionGoal()

void franka_gazebo::FrankaGripperSim::onGripperActionGoal ( const control_msgs::GripperCommandGoalConstPtr & goal )

private

Definition at line 418 of file franka_gripper_sim.cpp.

◆ onHomingGoal()

void franka_gazebo::FrankaGripperSim::onHomingGoal ( const franka_gripper::HomingGoalConstPtr & goal )

private

Definition at line 271 of file franka_gripper_sim.cpp.

◆ onMoveGoal()

void franka_gazebo::FrankaGripperSim::onMoveGoal ( const franka_gripper::MoveGoalConstPtr & goal )

private

Definition at line 316 of file franka_gripper_sim.cpp.

◆ onStopGoal()

void franka_gazebo::FrankaGripperSim::onStopGoal ( const franka_gripper::StopGoalConstPtr & goal )

private

Definition at line 256 of file franka_gripper_sim.cpp.

◆ setConfig()

void franka_gazebo::FrankaGripperSim::setConfig ( const Config && config )

private

Definition at line 206 of file franka_gripper_sim.cpp.

◆ setState()

void franka_gazebo::FrankaGripperSim::setState ( const State && state )

private

Definition at line 201 of file franka_gripper_sim.cpp.

◆ starting()

void franka_gazebo::FrankaGripperSim::starting ( const ros::Time & )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 97 of file franka_gripper_sim.cpp.

◆ transition()

void franka_gazebo::FrankaGripperSim::transition	(	const State &&	state,
		const Config &&	config
	)

private

Definition at line 211 of file franka_gripper_sim.cpp.

◆ update()

void franka_gazebo::FrankaGripperSim::update	(	const ros::Time &	now,
		const ros::Duration &	period
	)

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 103 of file franka_gripper_sim.cpp.

◆ waitUntilStateChange()

void franka_gazebo::FrankaGripperSim::waitUntilStateChange ( )

private

Definition at line 241 of file franka_gripper_sim.cpp.

Member Data Documentation

◆ action_gc_

std::unique_ptr<actionlib::SimpleActionServer<control_msgs::GripperCommandAction> > franka_gazebo::FrankaGripperSim::action_gc_

private

Definition at line 111 of file franka_gripper_sim.h.

◆ action_grasp_

std::unique_ptr<actionlib::SimpleActionServer<franka_gripper::GraspAction> > franka_gazebo::FrankaGripperSim::action_grasp_

private

Definition at line 110 of file franka_gripper_sim.h.

◆ action_homing_

std::unique_ptr<actionlib::SimpleActionServer<franka_gripper::HomingAction> > franka_gazebo::FrankaGripperSim::action_homing_

private

Definition at line 108 of file franka_gripper_sim.h.

◆ action_move_

std::unique_ptr<actionlib::SimpleActionServer<franka_gripper::MoveAction> > franka_gazebo::FrankaGripperSim::action_move_

private

Definition at line 109 of file franka_gripper_sim.h.

◆ action_stop_

std::unique_ptr<actionlib::SimpleActionServer<franka_gripper::StopAction> > franka_gazebo::FrankaGripperSim::action_stop_

private

Definition at line 107 of file franka_gripper_sim.h.

◆ config_

Config franka_gazebo::FrankaGripperSim::config_

private

Definition at line 88 of file franka_gripper_sim.h.

◆ finger1_

hardware_interface::JointHandle franka_gazebo::FrankaGripperSim::finger1_

private

Definition at line 94 of file franka_gripper_sim.h.

◆ finger2_

hardware_interface::JointHandle franka_gazebo::FrankaGripperSim::finger2_

private

Definition at line 95 of file franka_gripper_sim.h.

◆ mutex_

std::mutex franka_gazebo::FrankaGripperSim::mutex_

private

Definition at line 97 of file franka_gripper_sim.h.

◆ pid1_

control_toolbox::Pid franka_gazebo::FrankaGripperSim::pid1_

private

Definition at line 91 of file franka_gripper_sim.h.

◆ pid2_

control_toolbox::Pid franka_gazebo::FrankaGripperSim::pid2_

private

Definition at line 92 of file franka_gripper_sim.h.

◆ pub_

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_gazebo::FrankaGripperSim::pub_

private

Definition at line 93 of file franka_gripper_sim.h.

◆ rate_trigger_

franka_hw::TriggerRate franka_gazebo::FrankaGripperSim::rate_trigger_ {30.0}

private

Definition at line 90 of file franka_gripper_sim.h.

◆ speed_default_

double franka_gazebo::FrankaGripperSim::speed_default_

private

Definition at line 102 of file franka_gripper_sim.h.

◆ speed_samples_

int franka_gazebo::FrankaGripperSim::speed_samples_

private

Definition at line 100 of file franka_gripper_sim.h.

◆ speed_threshold_

double franka_gazebo::FrankaGripperSim::speed_threshold_

private

Definition at line 101 of file franka_gripper_sim.h.

◆ state_

State franka_gazebo::FrankaGripperSim::state_ = State::IDLE

private

Definition at line 87 of file franka_gripper_sim.h.

◆ tolerance_gripper_action_

double franka_gazebo::FrankaGripperSim::tolerance_gripper_action_

private

[m] inner + outer position tolerances used during gripper action

Definition at line 104 of file franka_gripper_sim.h.

◆ tolerance_move_

double franka_gazebo::FrankaGripperSim::tolerance_move_

private

[m] inner + outer position tolerances used during grasp

Definition at line 103 of file franka_gripper_sim.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ State

Member Function Documentation

◆ control()

◆ grasp()

◆ init()

◆ interrupt()

◆ move()

◆ onGraspGoal()

◆ onGripperActionGoal()

◆ onHomingGoal()

◆ onMoveGoal()

◆ onStopGoal()

◆ setConfig()

◆ setState()

◆ starting()

◆ transition()

◆ update()

◆ waitUntilStateChange()

Member Data Documentation

◆ action_gc_

◆ action_grasp_

◆ action_homing_

◆ action_move_

◆ action_stop_

◆ config_

◆ finger1_

◆ finger2_

◆ mutex_

◆ pid1_

◆ pid2_

◆ pub_

◆ rate_trigger_

◆ speed_default_

◆ speed_samples_

◆ speed_threshold_

◆ state_

◆ tolerance_gripper_action_

◆ tolerance_move_