forceServoActionTest.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * \author Joe Romano
 */

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

#include <ros/ros.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperFindContactAction.h>
#include <pr2_gripper_sensor_msgs/PR2GripperForceServoAction.h>
#include <actionlib/client/simple_action_client.h>

// 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_controllers_msgs::Pr2GripperCommandAction> GripperClient;
// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperForceServoAction> ForceClient;


class Gripper{
private:
  GripperClient* gripper_client_;  
  ContactClient* contact_client_;
  ForceClient* force_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);
    force_client_  = new ForceClient("r_gripper_sensor_controller/force_servo",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(!force_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/force_servo action server to come up");
    }
  }

  ~Gripper(){
    delete gripper_client_;
    delete contact_client_;
    delete force_client_;
  }

  //Open the gripper
  void open(){
    pr2_controllers_msgs::Pr2GripperCommandGoal open;
    open.command.position = 0.08;
    open.command.max_effort = -1.0;
    
    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.");
  }

  //Close the gripper
  void close(){
    pr2_controllers_msgs::Pr2GripperCommandGoal squeeze;
    squeeze.command.position = 0.0;
    squeeze.command.max_effort = -1.0;

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



  //Hold somethign with a constant force in the gripper
  void hold( double holdForce){
    pr2_gripper_sensor_msgs::PR2GripperForceServoGoal squeeze;
    squeeze.command.fingertip_force = holdForce;   // hold with X N of force
    
    ROS_INFO("Sending hold goal");
    force_client_->sendGoal(squeeze);
    force_client_->waitForResult();
    if(force_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      ROS_INFO("Stable force was achieved");
    else
      ROS_INFO("Stable force was NOT achieved");
  }


  //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 or could not maintain contact force.");
  }
};

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

  Gripper gripper;

  gripper.open();
  sleep(2.0);

  gripper.findTwoContacts();
  gripper.hold(4.0);   // hold with 10 N of force

//gripper.close();

  return 0;
}