gripper_action_controller::GripperActionController< HardwareInterface > Class Template Reference

Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.h>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

List of all members.

Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...
Public Member Functions
	GripperActionController ()
Non Real-Time Safe Functions
bool	init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
Real-Time Safe Functions
void	starting (const ros::Time &time)
	Holds the current position.
void	stopping (const ros::Time &time)
	Cancels the active action goal, if any.
void	update (const ros::Time &time, const ros::Duration &period)
Public Attributes
realtime_tools::RealtimeBuffer < Commands >	command_
Commands	command_struct_
Commands	command_struct_rt_
Private Types
typedef actionlib::ActionServer < control_msgs::GripperCommandAction >	ActionServer
typedef boost::shared_ptr < ActionServer >	ActionServerPtr
typedef ActionServer::GoalHandle	GoalHandle
typedef HardwareInterfaceAdapter < HardwareInterface >	HwIfaceAdapter
typedef realtime_tools::RealtimeServerGoalHandle < control_msgs::GripperCommandAction >	RealtimeGoalHandle
typedef boost::shared_ptr < RealtimeGoalHandle >	RealtimeGoalHandlePtr
Private Member Functions
void	cancelCB (GoalHandle gh)
void	checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity)
	Check for success and publish appropriate result and feedback.
void	goalCB (GoalHandle gh)
void	preemptActiveGoal ()
void	setHoldPosition (const ros::Time &time)
Private Attributes
ros::Duration	action_monitor_period_
ActionServerPtr	action_server_
double	computed_command_
	Computed command.
ros::NodeHandle	controller_nh_
double	default_max_effort_
	Max allowed effort.
ros::Timer	goal_handle_timer_
double	goal_tolerance_
HwIfaceAdapter	hw_iface_adapter_
	Adapts desired goal state to HW interface.
hardware_interface::JointHandle	joint_
	Handles to controlled joints.
std::string	joint_name_
	Controlled joint names.
ros::Time	last_movement_time_
	Store stall time.
std::string	name_
	Controller name.
control_msgs::GripperCommandResultPtr	pre_alloc_result_
RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any.
double	stall_timeout_
double	stall_velocity_threshold_
	Stall related parameters.
bool	update_hold_position_
bool	verbose_
	Hard coded verbose flag to help in debugging.

---

Detailed Description

template<class HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters:

HardwareInterface

Controller hardware interface. Currently hardware_interface::PositionJointInterface and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 75 of file gripper_action_controller.h.

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Member Typedef Documentation

template<class HardwareInterface >

typedef actionlib::ActionServer<control_msgs::GripperCommandAction> gripper_action_controller::GripperActionController< HardwareInterface >::ActionServer [private]

Definition at line 111 of file gripper_action_controller.h.

template<class HardwareInterface >

typedef boost::shared_ptr<ActionServer> gripper_action_controller::GripperActionController< HardwareInterface >::ActionServerPtr [private]

Definition at line 112 of file gripper_action_controller.h.

template<class HardwareInterface >

typedef ActionServer::GoalHandle gripper_action_controller::GripperActionController< HardwareInterface >::GoalHandle [private]

Definition at line 113 of file gripper_action_controller.h.

template<class HardwareInterface >

typedef HardwareInterfaceAdapter<HardwareInterface> gripper_action_controller::GripperActionController< HardwareInterface >::HwIfaceAdapter [private]

Definition at line 117 of file gripper_action_controller.h.

template<class HardwareInterface >

typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::GripperCommandAction> gripper_action_controller::GripperActionController< HardwareInterface >::RealtimeGoalHandle [private]

Definition at line 114 of file gripper_action_controller.h.

template<class HardwareInterface >

typedef boost::shared_ptr<RealtimeGoalHandle> gripper_action_controller::GripperActionController< HardwareInterface >::RealtimeGoalHandlePtr [private]

Definition at line 115 of file gripper_action_controller.h.

---

Constructor & Destructor Documentation

template<class HardwareInterface >

gripper_action_controller::GripperActionController< HardwareInterface >::GripperActionController

(

)

Definition at line 128 of file gripper_action_controller_impl.h.

---

Member Function Documentation

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::cancelCB

(

GoalHandle

gh

)

[private]

Definition at line 286 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::checkForSuccess	(	const ros::Time &	time,
		double	error_position,
		double	current_position,
		double	current_velocity
	)		[private]

Check for success and publish appropriate result and feedback.

Definition at line 316 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::goalCB

(

GoalHandle

gh

)

[private]

Definition at line 245 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

bool gripper_action_controller::GripperActionController< HardwareInterface >::init	(	HardwareInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)		[virtual]

Reimplemented from controller_interface::Controller< HardwareInterface >.

Definition at line 133 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::preemptActiveGoal

(

)

[inline, private]

Definition at line 112 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::setHoldPosition

(

const ros::Time &

time

)

[private]

Definition at line 307 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::starting

(

const ros::Time &

time

)

[inline, virtual]

Holds the current position.

Reimplemented from controller_interface::ControllerBase.

Definition at line 92 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::stopping

(

const ros::Time &

time

)

[inline, virtual]

Cancels the active action goal, if any.

Reimplemented from controller_interface::ControllerBase.

Definition at line 105 of file gripper_action_controller_impl.h.

template<class HardwareInterface >

void gripper_action_controller::GripperActionController< HardwareInterface >::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[virtual]

Implements controller_interface::ControllerBase.

Definition at line 225 of file gripper_action_controller_impl.h.

---

Member Data Documentation

template<class HardwareInterface >

ros::Duration gripper_action_controller::GripperActionController< HardwareInterface >::action_monitor_period_ [private]

Definition at line 131 of file gripper_action_controller.h.

template<class HardwareInterface >

ActionServerPtr gripper_action_controller::GripperActionController< HardwareInterface >::action_server_ [private]

Definition at line 135 of file gripper_action_controller.h.

template<class HardwareInterface >

realtime_tools::RealtimeBuffer<Commands> gripper_action_controller::GripperActionController< HardwareInterface >::command_

Definition at line 106 of file gripper_action_controller.h.

template<class HardwareInterface >

Commands gripper_action_controller::GripperActionController< HardwareInterface >::command_struct_

Definition at line 107 of file gripper_action_controller.h.

template<class HardwareInterface >

Commands gripper_action_controller::GripperActionController< HardwareInterface >::command_struct_rt_

Definition at line 107 of file gripper_action_controller.h.

template<class HardwareInterface >

double gripper_action_controller::GripperActionController< HardwareInterface >::computed_command_ [private]

Computed command.

Definition at line 145 of file gripper_action_controller.h.

template<class HardwareInterface >

ros::NodeHandle gripper_action_controller::GripperActionController< HardwareInterface >::controller_nh_ [private]

Definition at line 134 of file gripper_action_controller.h.

template<class HardwareInterface >

double gripper_action_controller::GripperActionController< HardwareInterface >::default_max_effort_ [private]

Max allowed effort.

Definition at line 148 of file gripper_action_controller.h.

template<class HardwareInterface >

ros::Timer gripper_action_controller::GripperActionController< HardwareInterface >::goal_handle_timer_ [private]

Definition at line 137 of file gripper_action_controller.h.

template<class HardwareInterface >

double gripper_action_controller::GripperActionController< HardwareInterface >::goal_tolerance_ [private]

Definition at line 149 of file gripper_action_controller.h.

template<class HardwareInterface >

HwIfaceAdapter gripper_action_controller::GripperActionController< HardwareInterface >::hw_iface_adapter_ [private]

Adapts desired goal state to HW interface.

Definition at line 126 of file gripper_action_controller.h.

template<class HardwareInterface >

hardware_interface::JointHandle gripper_action_controller::GripperActionController< HardwareInterface >::joint_ [private]

Handles to controlled joints.

Definition at line 123 of file gripper_action_controller.h.

template<class HardwareInterface >

std::string gripper_action_controller::GripperActionController< HardwareInterface >::joint_name_ [private]

Controlled joint names.

Definition at line 124 of file gripper_action_controller.h.

template<class HardwareInterface >

ros::Time gripper_action_controller::GripperActionController< HardwareInterface >::last_movement_time_ [private]

Store stall time.

Definition at line 144 of file gripper_action_controller.h.

template<class HardwareInterface >

std::string gripper_action_controller::GripperActionController< HardwareInterface >::name_ [private]

Controller name.

Definition at line 122 of file gripper_action_controller.h.

template<class HardwareInterface >

control_msgs::GripperCommandResultPtr gripper_action_controller::GripperActionController< HardwareInterface >::pre_alloc_result_ [private]

Definition at line 129 of file gripper_action_controller.h.

template<class HardwareInterface >

RealtimeGoalHandlePtr gripper_action_controller::GripperActionController< HardwareInterface >::rt_active_goal_ [private]

Currently active action goal, if any.

Definition at line 128 of file gripper_action_controller.h.

template<class HardwareInterface >

double gripper_action_controller::GripperActionController< HardwareInterface >::stall_timeout_ [private]

Definition at line 147 of file gripper_action_controller.h.

template<class HardwareInterface >

double gripper_action_controller::GripperActionController< HardwareInterface >::stall_velocity_threshold_ [private]

Stall related parameters.

Definition at line 147 of file gripper_action_controller.h.

template<class HardwareInterface >

bool gripper_action_controller::GripperActionController< HardwareInterface >::update_hold_position_ [private]

Definition at line 119 of file gripper_action_controller.h.

template<class HardwareInterface >

bool gripper_action_controller::GripperActionController< HardwareInterface >::verbose_ [private]

Hard coded verbose flag to help in debugging.

Definition at line 121 of file gripper_action_controller.h.

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The documentation for this class was generated from the following files:

• gripper_action_controller.h
• gripper_action_controller_impl.h