gripper_action_controller.h

Go to the documentation of this file.

// Copyright (C) 2014, SRI International
//
// 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 SRI International 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.


#ifndef GRIPPER_ACTION_CONTROLLER_GRIPPER_ACTION_CONTROLLER_H
#define GRIPPER_ACTION_CONTROLLER_GRIPPER_ACTION_CONTROLLER_H

// C++ standard
#include <cassert>
#include <iterator>
#include <stdexcept>
#include <string>

// Boost
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>

// ROS
#include <ros/node_handle.h>

// URDF
#include <urdf/model.h>

// ROS messages
#include <control_msgs/GripperCommandAction.h>

// actionlib
#include <actionlib/server/action_server.h>

// ros_controls
#include <realtime_tools/realtime_server_goal_handle.h>
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/internal/demangle_symbol.h>
#include <realtime_tools/realtime_buffer.h>

// Project
#include <gripper_action_controller/hardware_interface_adapter.h>

namespace gripper_action_controller
{

template <class HardwareInterface>
class GripperActionController : public controller_interface::Controller<HardwareInterface>
{
public:

  struct Commands
  {
    double position_; // Last commanded position
    double max_effort_; // Max allowed effort
  };
  
  GripperActionController();
  
  bool init(HardwareInterface* hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh);
  /*\}*/
  
  void starting(const ros::Time& time);

  void stopping(const ros::Time& time);
  
  void update(const ros::Time& time, const ros::Duration& period);
  /*\}*/

  realtime_tools::RealtimeBuffer<Commands> command_;
  Commands command_struct_, command_struct_rt_; // pre-allocated memory that is re-used to set the realtime buffer

private:

  typedef actionlib::ActionServer<control_msgs::GripperCommandAction>                         ActionServer;
  typedef boost::shared_ptr<ActionServer>                                                     ActionServerPtr;
  typedef ActionServer::GoalHandle                                                            GoalHandle;
  typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::GripperCommandAction>        RealtimeGoalHandle;
  typedef boost::shared_ptr<RealtimeGoalHandle>                                               RealtimeGoalHandlePtr;

  typedef HardwareInterfaceAdapter<HardwareInterface> HwIfaceAdapter;

  bool                                          update_hold_position_; 
  
  bool                                         verbose_;            
  std::string                                  name_;               
  hardware_interface::JointHandle joint_;                          
  std::string                     joint_name_;                      

  HwIfaceAdapter                               hw_iface_adapter_;   

  RealtimeGoalHandlePtr                        rt_active_goal_;     
  control_msgs::GripperCommandResultPtr        pre_alloc_result_;

  ros::Duration action_monitor_period_;

  // ROS API
  ros::NodeHandle    controller_nh_;
  ActionServerPtr    action_server_;

  ros::Timer         goal_handle_timer_;

  void goalCB(GoalHandle gh);
  void cancelCB(GoalHandle gh);
  void preemptActiveGoal();
  void setHoldPosition(const ros::Time& time);

  ros::Time last_movement_time_;                                    
  double computed_command_;                                         

  double stall_timeout_, stall_velocity_threshold_;                 
  double default_max_effort_;                                       
  double goal_tolerance_;
  void checkForSuccess(const ros::Time& time, double error_position, double current_position, double current_velocity);

};

} // namespace

#include <gripper_action_controller/gripper_action_controller_impl.h>

#endif // header guard