Robotiq3FGripperSimpleController.py

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#!/usr/bin/env python


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"""@package docstring
Command-line interface for sending simple commands to a ROS node controlling a 3F gripper gripper.

This serves as an example for publishing messages on the 'Robotiq3FGripperRobotOutput' topic using the 'Robotiq3FGripper_robot_output' msg type for sending commands to a 3F gripper gripper. In this example, only the simple control mode is implemented. For using the advanced control mode, please refer to the Robotiq support website (support.robotiq.com).
"""

from __future__ import print_function

import roslib;

roslib.load_manifest('robotiq_3f_gripper_control')
import rospy
from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput


def genCommand(char, command):
    """Update the command according to the character entered by the user."""

    if char == 'a':
        command = Robotiq3FGripperRobotOutput();
        command.rACT = 1
        command.rGTO = 1
        command.rSPA = 255
        command.rFRA = 150

    if char == 'r':
        command = Robotiq3FGripperRobotOutput();
        command.rACT = 0

    if char == 'c':
        command.rPRA = 255

    if char == 'o':
        command.rPRA = 0

    if char == 'b':
        command.rMOD = 0

    if char == 'p':
        command.rMOD = 1

    if char == 'w':
        command.rMOD = 2

    if char == 's':
        command.rMOD = 3

    # If the command entered is a int, assign this value to rPRA
    try:
        command.rPRA = int(char)
        if command.rPRA > 255:
            command.rPRA = 255
        if command.rPRA < 0:
            command.rPRA = 0
    except ValueError:
        pass

    if char == 'f':
        command.rSPA += 25
        if command.rSPA > 255:
            command.rSPA = 255

    if char == 'l':
        command.rSPA -= 25
        if command.rSPA < 0:
            command.rSPA = 0

    if char == 'i':
        command.rFRA += 25
        if command.rFRA > 255:
            command.rFRA = 255

    if char == 'd':
        command.rFRA -= 25
        if command.rFRA < 0:
            command.rFRA = 0

    return command


def askForCommand(command):
    """Ask the user for a command to send to the gripper."""

    currentCommand = 'Simple 3F gripper Controller\n-----\nCurrent command:'
    currentCommand += ' rACT = ' + str(command.rACT)
    currentCommand += ', rMOD = ' + str(command.rMOD)
    currentCommand += ', rGTO = ' + str(command.rGTO)
    currentCommand += ', rATR = ' + str(command.rATR)
    ##    currentCommand += ', rGLV = ' + str(command.rGLV)
    ##    currentCommand += ', rICF = ' + str(command.rICF)
    ##    currentCommand += ', rICS = ' + str(command.rICS)
    currentCommand += ', rPRA = ' + str(command.rPRA)
    currentCommand += ', rSPA = ' + str(command.rSPA)
    currentCommand += ', rFRA = ' + str(command.rFRA)

    # We only show the simple control mode
    ##    currentCommand += ', rPRB = ' + str(command.rPRB)
    ##    currentCommand += ', rSPB = ' + str(command.rSPB)
    ##    currentCommand += ', rFRB = ' + str(command.rFRB)
    ##    currentCommand += ', rPRC = ' + str(command.rPRC)
    ##    currentCommand += ', rSPC = ' + str(command.rSPC)
    ##    currentCommand += ', rFRC = ' + str(command.rFRC)
    ##    currentCommand += ', rPRS = ' + str(command.rPRS)
    ##    currentCommand += ', rSPS = ' + str(command.rSPS)
    ##    currentCommand += ', rFRS = ' + str(command.rFRS)

    print(currentCommand)

    strAskForCommand = '-----\nAvailable commands\n\n'
    strAskForCommand += 'r: Reset\n'
    strAskForCommand += 'a: Activate\n'
    strAskForCommand += 'c: Close\n'
    strAskForCommand += 'o: Open\n'
    strAskForCommand += 'b: Basic mode\n'
    strAskForCommand += 'p: Pinch mode\n'
    strAskForCommand += 'w: Wide mode\n'
    strAskForCommand += 's: Scissor mode\n'
    strAskForCommand += '(0-255): Go to that position\n'
    strAskForCommand += 'f: Faster\n'
    strAskForCommand += 'l: Slower\n'
    strAskForCommand += 'i: Increase force\n'
    strAskForCommand += 'd: Decrease force\n'

    strAskForCommand += '-->'

    return raw_input(strAskForCommand)


def publisher():
    """Main loop which requests new commands and publish them on the Robotiq3FGripperRobotOutput topic."""

    rospy.init_node('Robotiq3FGripperSimpleController')

    pub = rospy.Publisher('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput)

    command = Robotiq3FGripperRobotOutput();

    while not rospy.is_shutdown():
        command = genCommand(askForCommand(command), command)

        pub.publish(command)

        rospy.sleep(0.1)


if __name__ == '__main__':
    publisher()