placeActionTest.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *
 * \author Joe Romano
 */

// @author: Joe Romano
// @email: joeromano@gmail.com 
// @brief: placeActionTest.cpp - example for using the place
//         action server

#include <ros/ros.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperFindContactAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperSlipServoAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction.h>
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperSlipServoAction> SlipClient;
// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperFindContactAction> ContactClient;
// Our Action interface type, provided as a typedef for convenience                   
typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction> EventDetectorClient;
// Our Action interface type, provided as a typedef for convenience                   
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient;
// Our Action interface type, provided as a typedef for convenience                   



class Gripper{
private:
  GripperClient* gripper_client_;  
  ContactClient* contact_client_;
  SlipClient* slip_client_;
  EventDetectorClient* event_detector_client_;

public:
  //Action client initialization
  Gripper(){

    //Initialize the client for the Action interface to the gripper controller
    //and tell the action client that we want to spin a thread by default
    gripper_client_ = new GripperClient("r_gripper_sensor_controller/gripper_action", true);
    contact_client_  = new ContactClient("r_gripper_sensor_controller/find_contact",true);
    slip_client_  = new SlipClient("r_gripper_sensor_controller/slip_servo",true);
    event_detector_client_  = new EventDetectorClient("r_gripper_sensor_controller/event_detector",true);


    //wait for the gripper action server to come up 
    while(!gripper_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/gripper_action action server to come up");
    }

    while(!contact_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/find_contact action server to come up");
    }
    
    while(!slip_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/slip_servo action server to come up");
    }    

    while(!event_detector_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/event_detector action server to come up");
    }    
  }

  ~Gripper(){
    delete gripper_client_;
    delete contact_client_;
    delete slip_client_;
    delete event_detector_client_;

  }

  //Open the gripper
  void open(){
    pr2_controllers_msgs::Pr2GripperCommandGoal open;
    open.command.position = 0.09;    // position open (9 cm)
    open.command.max_effort = -1.0;  // unlimited motor effort

    ROS_INFO("Sending open goal");
    gripper_client_->sendGoal(open);
    gripper_client_->waitForResult();
    if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      ROS_INFO("The gripper opened!");
    else
      ROS_INFO("The gripper failed to open.");
  }


  //Find two contacts and go into force control mode
  void findTwoContacts(){
    pr2_gripper_sensor_msgs::PR2GripperFindContactGoal findTwo;
    findTwo.command.contact_conditions = findTwo.command.BOTH;  // close until both fingers contact
    findTwo.command.zero_fingertip_sensors = true;   // zero fingertip sensor values before moving
 
    ROS_INFO("Sending find 2 contact goal");
    contact_client_->sendGoal(findTwo);
    contact_client_->waitForResult(ros::Duration(5.0));
    if(contact_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    {
      ROS_INFO("Contact found. Left: %d, Right: %d", contact_client_->getResult()->data.left_fingertip_pad_contact, 
               contact_client_->getResult()->data.right_fingertip_pad_contact);
      ROS_INFO("Contact force. Left: %f, Right: %f", contact_client_->getResult()->data.left_fingertip_pad_force, 
           contact_client_->getResult()->data.right_fingertip_pad_force);
    }
    else
      ROS_INFO("The gripper did not find a contact.");
  }
  
  
  //Slip servo the robot
  void slipServo(){
    pr2_gripper_sensor_msgs::PR2GripperSlipServoGoal slip_goal;

    ROS_INFO("Slip Servoing");
    slip_client_->sendGoal(slip_goal);
    //slip_client_->waitForResult();  // thre is no reason to wait since this action never returns a result
    if(slip_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      ROS_INFO("You Should Never See This Message!");
    else
      ROS_INFO("SlipServo Action returned without success.");
  }  


  //move into event_detector mode to drop an object
  void place(){
    pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal place_goal;
    place_goal.command.trigger_conditions = place_goal.command.FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC;  
    place_goal.command.acceleration_trigger_magnitude = 4.0;  // set the contact acceleration to n m/s^2
    place_goal.command.slip_trigger_magnitude = .005;

    ROS_INFO("Waiting for object placement contact...");
    event_detector_client_->sendGoal(place_goal);
    event_detector_client_->waitForResult();
    if(event_detector_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
    {
      ROS_INFO("Place Success");
      ROS_INFO("cond met: %d, acc_met: %d, slip_met: %d", event_detector_client_->getResult()->data.trigger_conditions_met, event_detector_client_->getResult()->data.acceleration_event, event_detector_client_->getResult()->data.slip_event);
    }
    else
      ROS_INFO("Place Failure");
  }  
};

int main(int argc, char** argv){
  ros::init(argc, argv, "simple_gripper");

  Gripper gripper;

  // do this until we get ctrl-c
    // open the hand to prepare for a grasp
    gripper.open();
  
    // wait (you don't have to do this in your code)
    // in this demo here is a good time to put an object inside the gripper
    // in your code the robot would move its arm around an object
    sleep(7.0);

    // close the gripper until we have a contact on each finger and move into force control mode
    gripper.findTwoContacts();

    // now hold the object but don't drop it
    gripper.slipServo();

    // now we wait some amount of time until we want to put it down
    // in your code you probably wouldn't do this but you would move the arm around instead
    sleep(8.0);

    // now we decided we are ready to put the  object down, so tell the gripper that
    gripper.place();
    
    // open the gripper once placement has been detected
    gripper.open();

  return 0;
}