Program Listing for File robotiq_activation_controller.hpp

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// Copyright (c) 2022 PickNik, Inc.
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#pragma once

#include "controller_interface/controller_interface.hpp"
#include "std_srvs/srv/trigger.hpp"

namespace robotiq_controllers
{
class RobotiqActivationController : public controller_interface::ControllerInterface
{
public:
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;

  controller_interface::InterfaceConfiguration state_interface_configuration() const override;

  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;

  CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;

  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;

  CallbackReturn on_init() override;

private:
  bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
                         std_srvs::srv::Trigger::Response::SharedPtr resp);

  static constexpr double ASYNC_WAITING = 2.0;
  enum CommandInterfaces
  {
    REACTIVATE_GRIPPER_CMD,
    REACTIVATE_GRIPPER_RESPONSE
  };

  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reactivate_gripper_srv_;
};
}  // namespace robotiq_controllers