SModelTcpNode.py

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#!/usr/bin/env python

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"""@package docstring
ROS node for controling a Robotiq S-Model gripper using the Modbus TCP protocol.

The script takes as an argument the IP address of the gripper. It initializes a baseSModel object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'SModelRobotInput' topic using the 'SModel_robot_input' msg type. The node subscribes to the 'SModelRobotOutput' topic for new commands using the 'SModel_robot_output' msg type. Examples are provided to control the gripper (SModelSimpleController.py) and interpreting its status (SModelStatusListener.py).
"""

import roslib; roslib.load_manifest('robotiq_s_model_control')
roslib.load_manifest('robotiq_modbus_tcp')
import rospy
import robotiq_s_model_control.baseSModel
import robotiq_modbus_tcp.comModbusTcp
import os, sys
from robotiq_s_model_control.msg import _SModel_robot_input  as inputMsg
from robotiq_s_model_control.msg import _SModel_robot_output as outputMsg

def mainLoop(address):
    
    #Gripper is a S-Model with a TCP connection
    gripper = robotiq_s_model_control.baseSModel.robotiqBaseSModel()
    gripper.client = robotiq_modbus_tcp.comModbusTcp.communication()

    #We connect to the address received as an argument
    gripper.client.connectToDevice(address)

    rospy.init_node('robotiqSModel')

    #The Gripper status is published on the topic named 'SModelRobotInput'
    pub = rospy.Publisher('SModelRobotInput', inputMsg.SModel_robot_input)

    #The Gripper command is received from the topic named 'SModelRobotOutput'
    rospy.Subscriber('SModelRobotOutput', outputMsg.SModel_robot_output, gripper.refreshCommand)    
    

    #We loop
    while not rospy.is_shutdown():

      #Get and publish the Gripper status
      status = gripper.getStatus()
      pub.publish(status)     

      #Wait a little
      rospy.sleep(0.05)

      #Send the most recent command
      gripper.sendCommand()

      #Wait a little
      rospy.sleep(0.05)
            
if __name__ == '__main__':
    try:
        #TODO: Add verification that the argument is an IP address
        mainLoop(sys.argv[1])
    except rospy.ROSInterruptException: pass