CModelTcpNode.py
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00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2012, Robotiq, Inc.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
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00011 #
00012 #  * Redistributions of source code must retain the above copyright
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00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of Robotiq, Inc. nor the names of its
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00035 # Copyright (c) 2012, Robotiq, Inc.
00036 # Revision $Id$
00037 
00038 """@package docstring
00039 ROS node for controling a Robotiq C-Model gripper using the Modbus TCP protocol.
00040 
00041 The script takes as an argument the IP address of the gripper. It initializes a baseCModel 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 'CModelRobotInput' topic using the 'CModel_robot_input' msg type. The node subscribes to the 'CModelRobotOutput' topic for new commands using the 'CModel_robot_output' msg type. Examples are provided to control the gripper (CModelSimpleController.py) and interpreting its status (CModelStatusListener.py).
00042 """
00043 
00044 import roslib; roslib.load_manifest('robotiq_c_model_control')
00045 roslib.load_manifest('robotiq_modbus_tcp')
00046 import rospy
00047 import robotiq_c_model_control.baseCModel
00048 import robotiq_modbus_tcp.comModbusTcp
00049 import os, sys
00050 from robotiq_c_model_control.msg import _CModel_robot_input  as inputMsg
00051 from robotiq_c_model_control.msg import _CModel_robot_output as outputMsg
00052 
00053 def mainLoop(address):
00054     
00055     #Gripper is a C-Model with a TCP connection
00056     gripper = robotiq_c_model_control.baseCModel.robotiqBaseCModel()
00057     gripper.client = robotiq_modbus_tcp.comModbusTcp.communication()
00058 
00059     #We connect to the address received as an argument
00060     gripper.client.connectToDevice(address)
00061 
00062     rospy.init_node('robotiqCModel')
00063 
00064     #The Gripper status is published on the topic named 'CModelRobotInput'
00065     pub = rospy.Publisher('CModelRobotInput', inputMsg.CModel_robot_input)
00066 
00067     #The Gripper command is received from the topic named 'CModelRobotOutput'
00068     rospy.Subscriber('CModelRobotOutput', outputMsg.CModel_robot_output, gripper.refreshCommand)    
00069     
00070 
00071     #We loop
00072     while not rospy.is_shutdown():
00073 
00074       #Get and publish the Gripper status
00075       status = gripper.getStatus()
00076       pub.publish(status)     
00077 
00078       #Wait a little
00079       rospy.sleep(0.05)
00080 
00081       #Send the most recent command
00082       gripper.sendCommand()
00083 
00084       #Wait a little
00085       rospy.sleep(0.05)
00086             
00087 if __name__ == '__main__':
00088     try:
00089         #TODO: Add verification that the argument is an IP address
00090         mainLoop(sys.argv[1])
00091     except rospy.ROSInterruptException: pass


robotiq_c_model_control
Author(s): Nicolas Lauzier (Robotiq inc.)
autogenerated on Thu Jun 6 2019 17:58:00