Converts GraspHandPostureExecution goals or queries into controller commands for the PR2 or LCG grippers. More...

Public Member Functions
	PR2GripperGraspController ()
	~PR2GripperGraspController ()
Private Member Functions
void	executeCB (const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &goal)
bool	getGripperValue (double &value)
	Returns the current value of the gripper joint.
double	jointToGap (double jointValue)
	Given a value of a gripper joint, converts that to a value of the gap between the fingers.
bool	serviceCallback (object_manipulation_msgs::GraspStatus::Request &request, object_manipulation_msgs::GraspStatus::Response &response)
Private Attributes
actionlib::SimpleActionServer < object_manipulation_msgs::GraspHandPostureExecutionAction > *	action_server_
	Action server for the grasp poture action.
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	gripper_action_client_
	Action client for moving the PR2 gripper.
double	gripper_closed_gap_value_
	Gap value for gripper fully closed.
double	gripper_max_effort_
	Max effort used when achieving a position (e.g. pre-grasp or release) without epxecting an object.
double	gripper_object_presence_threshold_
	A value of [rl]_gripper_joint below this indicates there is nothing inside the gripper.
double	gripper_open_gap_value_
	Gap value for gripper fully open.
std::string	gripper_type_
	The type of gripper, for now "pr2" or "lcg".
std::string	gripper_virtual_joint_name_
	The name of the virtual joint of the gripper.
ros::NodeHandle	priv_nh_
	The private namespace node handle.
ros::ServiceServer	query_srv_
	Server for the posture query service.
ros::NodeHandle	root_nh_
	The root namespace node handle.
bool	sim_
	Whether we are in simulation or on a real robot.
double	sim_wait_
	How long we wait for the gripper to settle in simulation.
Static Private Attributes
static const double	DEFAULT_GRIPPER_CLOSED = 0.0
	Default gap value for gripper fully closed.
static const double	DEFAULT_GRIPPER_MAX_EFFORT = 100
	Default max effort for achieving a position.
static const double	DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = 0.0021
	Default value in case this parameter is not in the launch file.
static const double	DEFAULT_GRIPPER_OPEN = 0.086
	Default gap value for gripper fully open.

Detailed Description

Converts GraspHandPostureExecution goals or queries into controller commands for the PR2 or LCG grippers.

GraspHandPostureExecution reasons in terms of joint values, while the PR2 gripper (and for now the LCG) controllers reason in terms of gap between the fingers. This node makes the translation.

For both grippers, only looks at the first joint value in the grasp, and uses it to convert to a gap value.

Definition at line 54 of file pr2_gripper_grasp_controller.cpp.

Constructor & Destructor Documentation

PR2GripperGraspController::PR2GripperGraspController ( ) [inline]

Definition at line 288 of file pr2_gripper_grasp_controller.cpp.

PR2GripperGraspController::~PR2GripperGraspController ( ) [inline]

Definition at line 330 of file pr2_gripper_grasp_controller.cpp.

Member Function Documentation

void PR2GripperGraspController::executeCB ( const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr & goal ) [inline, private]

Definition at line 151 of file pr2_gripper_grasp_controller.cpp.

bool PR2GripperGraspController::getGripperValue ( double & value ) [inline, private]

Returns the current value of the gripper joint.

Definition at line 110 of file pr2_gripper_grasp_controller.cpp.

double PR2GripperGraspController::jointToGap ( double jointValue ) [inline, private]

Given a value of a gripper joint, converts that to a value of the gap between the fingers.

This is different for the PR2 gripper and LCG

Definition at line 144 of file pr2_gripper_grasp_controller.cpp.

bool PR2GripperGraspController::serviceCallback	(	object_manipulation_msgs::GraspStatus::Request &	request,
		object_manipulation_msgs::GraspStatus::Response &	response
	)		`[inline, private]`