Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.h>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions
	GripperActionController ()

Non Real-Time Safe Functions
bool	init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

Real-Time Safe Functions
void	starting (const ros::Time &time)
	Holds the current position. More...

void	stopping (const ros::Time &time)
	Cancels the active action goal, if any. More...

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

Public Member Functions inherited from controller_interface::Controller< HardwareInterface >
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)

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

Public Attributes
realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

Commands	command_struct_rt_

Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

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

	STOPPED

	WAITING

Private Types
typedef actionlib::ActionServer< control_msgs::GripperCommandAction >	ActionServer

typedef std::shared_ptr< ActionServer >	ActionServerPtr

typedef ActionServer::GoalHandle	GoalHandle

typedef HardwareInterfaceAdapter< HardwareInterface >	HwIfaceAdapter

typedef realtime_tools::RealtimeServerGoalHandle< control_msgs::GripperCommandAction >	RealtimeGoalHandle

typedef boost::shared_ptr< RealtimeGoalHandle >	RealtimeGoalHandlePtr

Private Member Functions
void	cancelCB (GoalHandle gh)

void	checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity)
	Check for success and publish appropriate result and feedback. More...

void	goalCB (GoalHandle gh)

void	preemptActiveGoal ()

void	setHoldPosition (const ros::Time &time)

Private Attributes
ros::Duration	action_monitor_period_

ActionServerPtr	action_server_

double	computed_command_
	Computed command. More...

ros::NodeHandle	controller_nh_

double	default_max_effort_
	Max allowed effort. More...

ros::Timer	goal_handle_timer_

double	goal_tolerance_

HwIfaceAdapter	hw_iface_adapter_
	Adapts desired goal state to HW interface. More...

hardware_interface::JointHandle	joint_
	Handles to controlled joints. More...

std::string	joint_name_
	Controlled joint names. More...

ros::Time	last_movement_time_
	Store stall time. More...

std::string	name_
	Controller name. More...

control_msgs::GripperCommandResultPtr	pre_alloc_result_

RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any. More...

double	stall_timeout_

double	stall_velocity_threshold_
	Stall related parameters. More...

bool	update_hold_position_

bool	verbose_
	Hard coded verbose flag to help in debugging. More...

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

Protected Member Functions inherited from controller_interface::Controller< HardwareInterface >
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

template<class HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters

HardwareInterface Controller hardware interface. Currently hardware_interface::PositionJointInterface and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 71 of file gripper_action_controller.h.