gripper_controller_handle.h

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/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */

#ifndef MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE
#define MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE

#include <moveit_simple_controller_manager/action_based_controller_handle.h>
#include <control_msgs/GripperCommandAction.h>

namespace moveit_simple_controller_manager
{


/*
 * This is an interface for a gripper using control_msgs/GripperCommandAction action interface.
 */
class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs::GripperCommandAction>
{
public:
  /* Topics will map to name/ns/goal, name/ns/result, etc */
  GripperControllerHandle(const std::string &name, const std::string &ns) :
    ActionBasedControllerHandle<control_msgs::GripperCommandAction>(name, ns),
    allow_failure_(false)
  {
  }

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory)
  {
    ROS_DEBUG_STREAM("GripperController: new trajectory to " << name_);

    if (!controller_action_client_)
      return false;

    if (!trajectory.multi_dof_joint_trajectory.points.empty())
    {
      ROS_ERROR("GripperController: cannot execute multi-dof trajectories.");
      return false;
    }

    if (trajectory.joint_trajectory.points.size() != 1)
    {
      ROS_ERROR("GripperController: expects a joint trajectory with one point only, but %u provided)", (unsigned int)trajectory.joint_trajectory.points.size());
      return false;
    }



    if (trajectory.joint_trajectory.points[0].positions.empty())
    {
      ROS_ERROR("GripperController: expects a joint trajectory with one point that specifies at least one position, but 0 positions provided)");
      return false;
    }

    /* TODO: currently sending velocity as effort, make this better. */
    control_msgs::GripperCommandGoal goal;
    if (!trajectory.joint_trajectory.points[0].velocities.empty())
      goal.command.max_effort = trajectory.joint_trajectory.points[0].velocities[0];
    goal.command.position = trajectory.joint_trajectory.points[0].positions[0];
    controller_action_client_->sendGoal(goal,
                    boost::bind(&GripperControllerHandle::controllerDoneCallback, this, _1, _2),
                    boost::bind(&GripperControllerHandle::controllerActiveCallback, this),
                    boost::bind(&GripperControllerHandle::controllerFeedbackCallback, this, _1));
    done_ = false;
    last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING;
    return true;
  }

  void setCommandJoint(const std::string& name) { command_joint_ = name; }
  void allowFailure(bool allow) { allow_failure_ = allow; }

private:

  void controllerDoneCallback(const actionlib::SimpleClientGoalState& state,
                              const control_msgs::GripperCommandResultConstPtr& result)
  {
    if (state == actionlib::SimpleClientGoalState::ABORTED && allow_failure_)
      finishControllerExecution(actionlib::SimpleClientGoalState::SUCCEEDED);
    else
      finishControllerExecution(state);
  }

  void controllerActiveCallback()
  {
    ROS_DEBUG_STREAM("GripperController: " << name_ << " started execution");
  }

  void controllerFeedbackCallback(const control_msgs::GripperCommandFeedbackConstPtr& feedback)
  {
    // TODO?
  }

  /*
   * Some gripper drivers may indicate a failure if they do not close all the way when
   * an object is in the gripper.
   */
  bool allow_failure_;

  /*
   * A GripperCommand message has only a single float64 for the "command", thus only a single
   * joint angle can be sent -- however, due to the complexity of making grippers look correct
   * in a URDF, they typically have >1 joints. The "command_joint" is the joint whose position
   * value will be sent in the GripperCommand action.
   */
  std::string command_joint_;
};


} // end namespace moveit_simple_controller_manager

#endif // MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE