positionActionTest.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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 the Willow Garage, Inc. 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.
 *
 * \author Joe Romano
 */
 
// @author: Joe Romano
// @email: joeromano@gmail.com 
// @brief: positionActionTest.cpp - example for using the position
//         action server
 
#include <ros/ros.h>
#include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
#include <actionlib/client/simple_action_client.h>
 
// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient;
 
class Gripper{
private:
  GripperClient* gripper_client_;  
 
public:
  //Action client initialization
  Gripper(){
 
    //Initialize the client for the Action interface to the gripper controller
    //and tell the action client that we want to spin a thread by default
    gripper_client_ = new GripperClient("r_gripper_sensor_controller/gripper_action", true);
    
    //wait for the gripper action server to come up 
    while(!gripper_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the r_gripper_sensor_controller/gripper_action action server to come up");
    }
  }
 
  ~Gripper(){
    delete gripper_client_;
  }
 
  //Open the gripper
  void open(){
    pr2_controllers_msgs::Pr2GripperCommandGoal open;
    open.command.position = 0.08;
    open.command.max_effort = -1.0;
 
    ROS_INFO("Sending open goal");
    gripper_client_->sendGoal(open);
    gripper_client_->waitForResult();
    if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      ROS_INFO("The gripper opened!");
    else
      ROS_INFO("The gripper failed to open.");
  }
 
  //Close the gripper
  void close(){
    pr2_controllers_msgs::Pr2GripperCommandGoal squeeze;
    squeeze.command.position = 0.0;
    squeeze.command.max_effort = -1.0;
 
    ROS_INFO("Sending squeeze goal");
    gripper_client_->sendGoal(squeeze);
    gripper_client_->waitForResult();
    if(gripper_client_->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
      ROS_INFO("The gripper closed!");
    else
      ROS_INFO("The gripper failed to close.");
  }
};
 
int main(int argc, char** argv){
  ros::init(argc, argv, "simple_gripper");
 
  Gripper gripper;
 
  gripper.open();
  gripper.close();
 
  return 0;
}