c_model_ethercat_node.cpp
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00001 #include "ros/ros.h"
00002 
00003 #include <boost/bind.hpp>
00004 #include <boost/ref.hpp>
00005 
00006 #include "robotiq_c_model_control/c_model_ethercat_client.h"
00007 #include <robotiq_c_model_control/CModel_robot_input.h>
00008 #include "robotiq_ethercat/ethercat_manager.h"
00009 
00010 
00011 /*
00012   Note that this code currently works only to control ONE CModel gripper
00013   attached to ONE network interface. If you want to add more grippers
00014   to the same network, you'll need to edit the source file.
00015 */
00016 
00017 // Note that you will likely need to run the following on your binary:
00018 // sudo setcap cap_net_raw+ep <filename>
00019 
00020 
00021 void changeCallback(robotiq_c_model_control::CModelEtherCatClient& client,
00022                     const robotiq_c_model_control::CModelEtherCatClient::GripperOutput::ConstPtr& msg)
00023 {
00024   client.writeOutputs(*msg);
00025 }
00026 
00027 
00028 int main(int argc, char** argv)
00029 {
00030   using robotiq_ethercat::EtherCatManager;
00031   using robotiq_c_model_control::CModelEtherCatClient;
00032 
00033   typedef CModelEtherCatClient::GripperOutput GripperOutput;
00034   typedef CModelEtherCatClient::GripperInput GripperInput;
00035 
00036   ros::init(argc, argv, "robotiq_c_model_gripper_node");
00037   
00038   ros::NodeHandle nh ("~");
00039 
00040   // Parameter names
00041   std::string ifname;
00042   int slave_no;
00043   bool activate;  
00044 
00045   nh.param<std::string>("ifname", ifname, "eth1");
00046   nh.param<int>("slave_number", slave_no, 1);
00047   nh.param<bool>("activate", activate, true);
00048 
00049   // Start ethercat manager
00050   EtherCatManager manager(ifname);
00051   // register client 
00052   CModelEtherCatClient client(manager, slave_no);
00053 
00054   // conditionally activate the gripper
00055   if (activate)
00056   {
00057     // Check to see if resetting is required? Or always reset?
00058     GripperOutput out;
00059     out.rACT = 0x1;
00060     client.writeOutputs(out);
00061   }
00062 
00063   // Sorry for the indentation, trying to keep it under 100 chars
00064   ros::Subscriber sub = 
00065         nh.subscribe<GripperOutput>("output", 1,
00066                                     boost::bind(changeCallback, boost::ref(client), _1));
00067 
00068   ros::Publisher pub = nh.advertise<GripperInput>("input", 100);
00069 
00070   ros::Rate rate(10); // 10 Hz
00071 
00072   while (ros::ok()) 
00073   {
00074     CModelEtherCatClient::GripperInput input = client.readInputs();
00075     pub.publish(input);
00076     ros::spinOnce();
00077     rate.sleep();
00078   }
00079 
00080   return 0;
00081 }


robotiq_c_model_control
Author(s): Nicolas Lauzier (Robotiq inc.)
autogenerated on Thu Aug 27 2015 14:44:22