robotiq_c_model_action_server.h
Go to the documentation of this file.
00001 
00006 #ifndef ROBOTIQ_C_MODEL_ACTION_SERVER_H
00007 #define ROBOTIQ_C_MODEL_ACTION_SERVER_H
00008 
00009 // STL
00010 #include <string>
00011 // ROS standard
00012 #include <ros/ros.h>
00013 #include <actionlib/server/simple_action_server.h>
00014 #include <control_msgs/GripperCommandAction.h>
00015 // Repo specific includes
00016 #include <robotiq_c_model_control/CModel_robot_input.h>
00017 #include <robotiq_c_model_control/CModel_robot_output.h>
00018 
00019 
00020 namespace robotiq_action_server
00021 {
00022 
00023 typedef robotiq_c_model_control::CModel_robot_input GripperInput;
00024 typedef robotiq_c_model_control::CModel_robot_output GripperOutput;
00025 
00026 typedef control_msgs::GripperCommandGoal GripperCommandGoal;
00027 typedef control_msgs::GripperCommandFeedback GripperCommandFeedback;
00028 typedef control_msgs::GripperCommandResult GripperCommandResult;
00029 
00038 struct CModelGripperParams
00039 {
00040   double min_gap_; // meters
00041   double max_gap_;
00042   double min_effort_; // N / (Nm)
00043   double max_effort_;
00044 };
00045 
00052 class CModelGripperActionServer
00053 {
00054 public:
00055   CModelGripperActionServer(const std::string& name, const CModelGripperParams& params);
00056 
00057   // These functions are meant to be called by simple action server
00058   void goalCB();
00059   void preemptCB();
00060   void analysisCB(const GripperInput::ConstPtr& msg);
00061 
00062 private:
00063   void issueActivation();
00064 
00065   ros::NodeHandle nh_;
00066   actionlib::SimpleActionServer<control_msgs::GripperCommandAction> as_;
00067 
00068   ros::Subscriber state_sub_; // Subs to grippers "input" topic
00069   ros::Publisher goal_pub_; // Pubs to grippers "output" topic
00070 
00071   GripperOutput goal_reg_state_; // Goal information in gripper-register form
00072   GripperInput current_reg_state_; // State info in gripper-register form
00073 
00074   /* Used to translate GripperCommands in engineering units
00075    * to/from register states understood by gripper itself. Different
00076    * for different models/generations of Robotiq grippers */
00077   CModelGripperParams gripper_params_;
00078 
00079   std::string action_name_;
00080 };
00081 
00082 }
00083 #endif


robotiq_action_server
Author(s): Jonathan Meyer
autogenerated on Thu Jun 6 2019 17:58:01