RobotiqHandPlugin.cpp

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/*
 * Copyright 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
    This file has been modified from the original, by Devon Ash
*/ 

#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
#include <ros/ros.h>
#include <string>
#include <vector>

/*

Due to necessity, I had to change the PID.hh file's definition from private members to public to allow public access of its members. They're private in 1.9 and getter functions aren't implemented until gazebo 3.0. I thought that was silly, and so I hacked around it. The functions directly access the private members by necessity. It can only change if Gazebo patches 1.9 and 2.2 to include getters for it.

I'm not sure exactly where the dependency chain includes PID.hh for the first time, so I've encapsulated all of the gazebo includes. Not pretty, but it works. If you're reading this and know of a better soln', feel free to change it.

*/
#define private public 
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/physics/physics.hh>
#include <robotiq_3f_gripper_articulated_gazebo_plugins/RobotiqHandPlugin.h>
#undef private

// Default topic names initialization.
const std::string RobotiqHandPlugin::DefaultLeftTopicCommand  =
  "/left_hand/command";
const std::string RobotiqHandPlugin::DefaultLeftTopicState    =
  "/left_hand/state";
const std::string RobotiqHandPlugin::DefaultRightTopicCommand =
  "/right_hand/command";
const std::string RobotiqHandPlugin::DefaultRightTopicState   =
  "/right_hand/state";

RobotiqHandPlugin::RobotiqHandPlugin()
{
  // PID default parameters.
  for (int i = 0; i < this->NumJoints; ++i)
  {
    this->posePID[i].Init(1.0, 0, 0.5, 0.0, 0.0, 60.0, -60.0);
    this->posePID[i].SetCmd(0.0);
  }

  // Default grasping mode: Basic mode.
  this->graspingMode = Basic;

  // Default hand state: Disabled.
  this->handState = Disabled;
}

RobotiqHandPlugin::~RobotiqHandPlugin()
{
#if GAZEBO_MAJOR_VERSION < 9
  gazebo::event::Events::DisconnectWorldUpdateBegin(this->updateConnection);
#endif
  this->rosNode->shutdown();
  this->rosQueue.clear();
  this->rosQueue.disable();
  this->callbackQueueThread.join();
}

void RobotiqHandPlugin::Load(gazebo::physics::ModelPtr _parent,
                             sdf::ElementPtr _sdf)
{
  this->model = _parent;
  this->world = this->model->GetWorld();
  this->sdf = _sdf;

  if (!this->sdf->HasElement("side") ||
      !this->sdf->GetElement("side")->GetValue()->Get(this->side) ||
      ((this->side != "left") && (this->side != "right")))
  {
    gzerr << "Failed to determine which hand we're controlling; "
             "aborting plugin load. <Side> should be either 'left' or 'right'."
          << std::endl;
    return;
  }

  // Load the vector of all joints.
  std::string prefix;
  if (this->side == "left")
    prefix = "l_";
  else
    prefix = "r_";

  // Load the vector of all joints.
  if (!this->FindJoints())
    return;

  gzlog << "Prior to iterating.." << std::endl;
  // Initialize joint state vector.
  this->jointStates.name.resize(this->jointNames.size());
  this->jointStates.position.resize(this->jointNames.size());
  this->jointStates.velocity.resize(this->jointNames.size());
  this->jointStates.effort.resize(this->jointNames.size());
  gzlog << "About to iterate things.." << std::endl;
  for (size_t i = 0; i < this->jointNames.size(); ++i)
  {
    this->jointStates.name[i] = this->jointNames[i];
    this->jointStates.position[i] = 0;
    this->jointStates.velocity[i] = 0;
    this->jointStates.effort[i] = 0;
  }
  gzlog << "Initialized the joint state vector" << std::endl;

  // Default ROS topic names.
  std::string controlTopicName = this->DefaultLeftTopicCommand;
  std::string stateTopicName   = this->DefaultLeftTopicState;
  if (this->side == "right")
  {
    controlTopicName = this->DefaultRightTopicCommand;
    stateTopicName   = this->DefaultRightTopicState;
  }
  gzlog << "Using control topic " << controlTopicName << std::endl;

  for (int i = 0; i < this->NumJoints; ++i)
  {
    // Set the PID effort limits.
    this->posePID[i].SetCmdMin(-this->fingerJoints[i]->GetEffortLimit(0));
    this->posePID[i].SetCmdMax(this->fingerJoints[i]->GetEffortLimit(0));

    // Overload the PID parameters if they are available.
    if (this->sdf->HasElement("kp_position"))
      this->posePID[i].SetPGain(this->sdf->Get<double>("kp_position"));

    if (this->sdf->HasElement("ki_position"))
      this->posePID[i].SetIGain(this->sdf->Get<double>("ki_position"));

    if (this->sdf->HasElement("kd_position"))
    {
      this->posePID[i].SetDGain(this->sdf->Get<double>("kd_position"));
      std::cout << "dGain after overloading: " << this->posePID[i].dGain
                << std::endl;
    }

    if (this->sdf->HasElement("position_effort_min"))
      this->posePID[i].SetCmdMin(this->sdf->Get<double>("position_effort_min"));

    if (this->sdf->HasElement("position_effort_max"))
      this->posePID[i].SetCmdMax(this->sdf->Get<double>("position_effort_max"));
  }

  // Overload the ROS topics for the hand if they are available.
  if (this->sdf->HasElement("topic_command"))
    controlTopicName = this->sdf->Get<std::string>("topic_command");

  if (this->sdf->HasElement("topic_state"))
    stateTopicName = this->sdf->Get<std::string>("topic_state");

  // Initialize ROS.
  if (!ros::isInitialized())
  {
    gzerr << "Not loading plugin since ROS hasn't been "
          << "properly initialized. Try starting gazebo with ROS plugin:\n"
          << " gazebo -s libgazebo_ros_api_plugin.so\n";
    return;
  }

  // Create a ROS node.
  this->rosNode.reset(new ros::NodeHandle(""));

  // Publish multi queue.
  this->pmq.startServiceThread();

  // Broadcasts state.
  this->pubHandleStateQueue = this->pmq.addPub<robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput>();
  this->pubHandleState = this->rosNode->advertise<robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput>(
    stateTopicName, 100, true);

  // Broadcast joint state.
  std::string topicBase = std::string("robotiq_hands/") + this->side;
  this->pubJointStatesQueue = this->pmq.addPub<sensor_msgs::JointState>();
  this->pubJointStates = this->rosNode->advertise<sensor_msgs::JointState>(
    topicBase + std::string("_hand/joint_states"), 10);

  // Subscribe to user published handle control commands.
  ros::SubscribeOptions handleCommandSo =
    ros::SubscribeOptions::create<robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput>(
      controlTopicName, 100,
      boost::bind(&RobotiqHandPlugin::SetHandleCommand, this, _1),
      ros::VoidPtr(), &this->rosQueue);

  // Enable TCP_NODELAY since TCP causes bursty communication with high jitter.
  handleCommandSo.transport_hints =
    ros::TransportHints().reliable().tcpNoDelay(true);
  this->subHandleCommand = this->rosNode->subscribe(handleCommandSo);

  // Controller time control.
#if GAZEBO_MAJOR_VERSION >= 9
  this->lastControllerUpdateTime = this->world->SimTime();
#else
  this->lastControllerUpdateTime = this->world->GetSimTime();
#endif

  // Start callback queue.
  this->callbackQueueThread =
    boost::thread(boost::bind(&RobotiqHandPlugin::RosQueueThread, this));

  // Connect to gazebo world update.
  this->updateConnection =
    gazebo::event::Events::ConnectWorldUpdateBegin(
      boost::bind(&RobotiqHandPlugin::UpdateStates, this));

  // Log information.
  gzlog << "RobotiqHandPlugin loaded for " << this->side << " hand."
        << std::endl;
  for (int i = 0; i < this->NumJoints; ++i)
  {
    gzlog << "Position PID parameters for joint ["
          << this->fingerJoints[i]->GetName() << "]:"     << std::endl
          << "\tKP: "     << this->posePID[i].pGain  << std::endl
          << "\tKI: "     << this->posePID[i].iGain  << std::endl
          << "\tKD: "     << this->posePID[i].dGain  << std::endl
          << "\tIMin: "   << this->posePID[i].iMin   << std::endl
          << "\tIMax: "   << this->posePID[i].iMax   << std::endl
          << "\tCmdMin: " << this->posePID[i].cmdMin << std::endl
          << "\tCmdMax: " << this->posePID[i].cmdMax << std::endl
          << std::endl;
  }
  gzlog << "Topic for sending hand commands: ["   << controlTopicName
        << "]\nTopic for receiving hand state: [" << stateTopicName
        << "]" << std::endl;
}

bool RobotiqHandPlugin::VerifyField(const std::string &_label, int _min,
  int _max, int _v)
{
  if (_v < _min || _v > _max)
  {
    std::cerr << "Illegal " << _label << " value: [" << _v << "]. The correct "
              << "range is [" << _min << "," << _max << "]" << std::endl;
    return false;
  }
  return true;
}

bool RobotiqHandPlugin::VerifyCommand(
    const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &_command)
{
  return this->VerifyField("rACT", 0, 1,   _command->rACT) &&
         this->VerifyField("rMOD", 0, 3,   _command->rACT) &&
         this->VerifyField("rGTO", 0, 1,   _command->rACT) &&
         this->VerifyField("rATR", 0, 1,   _command->rACT) &&
         this->VerifyField("rICF", 0, 1,   _command->rACT) &&
         this->VerifyField("rICS", 0, 1,   _command->rACT) &&
         this->VerifyField("rPRA", 0, 255, _command->rACT) &&
         this->VerifyField("rSPA", 0, 255, _command->rACT) &&
         this->VerifyField("rFRA", 0, 255, _command->rACT) &&
         this->VerifyField("rPRB", 0, 255, _command->rACT) &&
         this->VerifyField("rSPB", 0, 255, _command->rACT) &&
         this->VerifyField("rFRB", 0, 255, _command->rACT) &&
         this->VerifyField("rPRC", 0, 255, _command->rACT) && 
         this->VerifyField("rSPC", 0, 255, _command->rACT) &&
         this->VerifyField("rFRC", 0, 255, _command->rACT) &&
         this->VerifyField("rPRS", 0, 255, _command->rACT) &&
         this->VerifyField("rSPS", 0, 255, _command->rACT) &&
         this->VerifyField("rFRS", 0, 255, _command->rACT);
}

void RobotiqHandPlugin::SetHandleCommand(
    const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &_msg)
{
  boost::mutex::scoped_lock lock(this->controlMutex);

  // Sanity check.
  if (!this->VerifyCommand(_msg))
  {
    std::cerr << "Ignoring command" << std::endl;
    return;
  }

  this->prevCommand = this->handleCommand;

  // Update handleCommand.
  this->handleCommand = *_msg;
}

void RobotiqHandPlugin::ReleaseHand()
{
  // Open the fingers.
  this->handleCommand.rPRA = 0;
  this->handleCommand.rPRB = 0;
  this->handleCommand.rPRC = 0;

  // Half speed.
  this->handleCommand.rSPA = 127;
  this->handleCommand.rSPB = 127;
  this->handleCommand.rSPC = 127;
}

void RobotiqHandPlugin::StopHand()
{
  // Set the target positions to the current ones.
  this->handleCommand.rPRA = this->handleState.gPRA;
  this->handleCommand.rPRB = this->handleState.gPRB;
  this->handleCommand.rPRC = this->handleState.gPRC;
}

bool RobotiqHandPlugin::IsHandFullyOpen()
{
  bool fingersOpen = true;

  // The hand will be fully open when all the fingers are within 'tolerance'
  // from their lower limits.
#if GAZEBO_MAJOR_VERSION >= 9
  ignition::math::Angle tolerance;
  tolerance.Degree(1.0);
#else
  gazebo::math::Angle tolerance;
  tolerance.SetFromDegree(1.0);
#endif

  for (int i = 2; i < this->NumJoints; ++i)
  {
    fingersOpen = fingersOpen &&
#if GAZEBO_MAJOR_VERSION >= 9
      (this->joints[i]->Position(0) < (this->joints[i]->LowerLimit(0) + tolerance()));
#else
      (this->joints[i]->GetAngle(0) < (this->joints[i]->GetLowerLimit(0) + tolerance));
#endif
  }

  return fingersOpen;
}

void RobotiqHandPlugin::UpdateStates()
{
  boost::mutex::scoped_lock lock(this->controlMutex);
#if GAZEBO_MAJOR_VERSION >= 9
  gazebo::common::Time curTime = this->world->SimTime();
#else
  gazebo::common::Time curTime = this->world->GetSimTime();
#endif

  // Step 1: State transitions.
  if (curTime > this->lastControllerUpdateTime)
  {
    this->userHandleCommand = this->handleCommand;

    // Deactivate gripper.
    if (this->handleCommand.rACT == 0)
    {
      this->handState = Disabled;
    }
    // Emergency auto-release.
    else if (this->handleCommand.rATR == 1)
    {
      this->handState = Emergency;
    }
    // Individual Control of Scissor.
    else if (this->handleCommand.rICS == 1)
    {
      this->handState = ICS;
    }
    // Individual Control of Fingers.
    else if (this->handleCommand.rICF == 1)
    {
      this->handState = ICF;
    }
    else
    {
      // Change the grasping mode.
      if (static_cast<int>(this->handleCommand.rMOD) != this->graspingMode)
      {
        this->handState = ChangeModeInProgress;
        lastHandleCommand = handleCommand;

        // Update the grasping mode.
        this->graspingMode =
          static_cast<GraspingMode>(this->handleCommand.rMOD);
      }
      else if (this->handState != ChangeModeInProgress)
      {
        this->handState = Simplified;
      }

      // Grasping mode initialized, let's change the state to Simplified Mode.
      if (this->handState == ChangeModeInProgress && this->IsHandFullyOpen())
      {
        this->prevCommand = this->handleCommand;

        // Restore the original command.
        this->handleCommand = this->lastHandleCommand;
        this->handState = Simplified;
      }
    }

    // Step 2: Actions in each state.
    switch (this->handState)
    {
      case Disabled:
        break;

      case Emergency:
        // Open the hand.
        if (this->IsHandFullyOpen())
          this->StopHand();
        else
          this->ReleaseHand();
        break;

      case ICS:
        std::cerr << "Individual Control of Scissor not supported" << std::endl;
        break;

      case ICF:
        if (this->handleCommand.rGTO == 0)
        {
          // "Stop" action.
          this->StopHand();
        }
        break;

      case ChangeModeInProgress:
        // Open the hand.
        this->ReleaseHand();
        break;

      case Simplified:
        // We are in Simplified mode, so all the fingers should follow finger A.
        // Position.
        this->handleCommand.rPRB = this->handleCommand.rPRA;
        this->handleCommand.rPRC = this->handleCommand.rPRA;
        // Velocity.
        this->handleCommand.rSPB = this->handleCommand.rSPA;
        this->handleCommand.rSPC = this->handleCommand.rSPA;
        // Force.
        this->handleCommand.rFRB = this->handleCommand.rFRA;
        this->handleCommand.rFRC = this->handleCommand.rFRA;

        if (this->handleCommand.rGTO == 0)
        {
          // "Stop" action.
          this->StopHand();
        }
        break;

      default:
        std::cerr << "Unrecognized state [" << this->handState << "]"
                  << std::endl;
    }

    // Update the hand controller.
    this->UpdatePIDControl((curTime - this->lastControllerUpdateTime).Double());

    // Gather robot state data and publish them.
    this->GetAndPublishHandleState();

    // Publish joint states.
    this->GetAndPublishJointState(curTime);

    this->lastControllerUpdateTime = curTime;
  }
}

uint8_t RobotiqHandPlugin::GetObjectDetection(
  const gazebo::physics::JointPtr &_joint, int _index, uint8_t _rPR,
  uint8_t _prevrPR)
{
  // Check finger's speed.
  bool isMoving = _joint->GetVelocity(0) > this->VelTolerance;

  // Check if the finger reached its target positions. We look at the error in
  // the position PID to decide if reached the target.
  double pe, ie, de;
  this->posePID[_index].GetErrors(pe, ie, de);
  bool reachPosition = pe < this->PoseTolerance;

  if (isMoving)
  {
    // Finger is in motion.
    return 0;
  }
  else
  {
    if (reachPosition)
    {
      // Finger is at the requestedPosition.
      return 3;
    }
    else if (_rPR - _prevrPR > 0)
    {
      // Finger has stopped due to a contact while closing.
      return 2;
    }
    else
    {
      // Finger has stopped due to a contact while opening.
      return 1;
    }
  }
}

uint8_t RobotiqHandPlugin::GetCurrentPosition(
  const gazebo::physics::JointPtr &_joint)
{
  // Full range of motion.
#if GAZEBO_MAJOR_VERSION >= 9
  ignition::math::Angle range = _joint->UpperLimit(0) - _joint->LowerLimit(0);
#else
  gazebo::math::Angle range = _joint->GetUpperLimit(0) - _joint->GetLowerLimit(0);
#endif

  // The maximum value in pinch mode is 177.
  if (this->graspingMode == Pinch)
    range *= 177.0 / 255.0;

  // Angle relative to the lower limit.
#if GAZEBO_MAJOR_VERSION >= 9
  ignition::math::Angle relAngle = _joint->Position(0) - _joint->LowerLimit(0);
#else
  gazebo::math::Angle relAngle = _joint->GetAngle(0) - _joint->GetLowerLimit(0);
#endif

#if GAZEBO_MAJOR_VERSION >= 9
  return static_cast<uint8_t>(round(255.0 * relAngle() / range()));
#else
  static_cast<uint8_t>(round(255.0 * relAngle.Radian() / range.Radian()));
#endif
}

void RobotiqHandPlugin::GetAndPublishHandleState()
{
  // gACT. Initialization status.
  this->handleState.gACT = this->userHandleCommand.rACT;

  // gMOD. Operation mode status.
  this->handleState.gMOD = this->userHandleCommand.rMOD;

  // gGTO. Action status.
  this->handleState.gGTO = this->userHandleCommand.rGTO;

  // gIMC. Gripper status.
  if (this->handState == Emergency)
    this->handleState.gIMC = 0;
  else if (this->handState == ChangeModeInProgress)
    this->handleState.gIMC = 2;
  else
    this->handleState.gIMC = 3;

  // Check fingers' speed.
  bool isMovingA = this->joints[2]->GetVelocity(0) > this->VelTolerance;
  bool isMovingB = this->joints[3]->GetVelocity(0) > this->VelTolerance;
  bool isMovingC = this->joints[4]->GetVelocity(0) > this->VelTolerance;

  // Check if the fingers reached their target positions.
  double pe, ie, de;
  this->posePID[2].GetErrors(pe, ie, de);
  bool reachPositionA = pe < this->PoseTolerance;
  this->posePID[3].GetErrors(pe, ie, de);
  bool reachPositionB = pe < this->PoseTolerance;
  this->posePID[4].GetErrors(pe, ie, de);
  bool reachPositionC = pe < this->PoseTolerance;

  // gSTA. Motion status.
  if (isMovingA || isMovingB || isMovingC)
  {
    // Gripper is in motion.
    this->handleState.gSTA = 0;
  }
  else
  {
    if (reachPositionA && reachPositionB && reachPositionC)
    {
      // Gripper is stopped: All fingers reached requested position.
      this->handleState.gSTA = 3;
    }
    else if (!reachPositionA && !reachPositionB && !reachPositionC)
    {
      // Gripper is stopped: All fingers stopped before requested position.
      this->handleState.gSTA = 2;
    }
    else
    {
      // Gripper stopped. One or two fingers stopped before requested position.
      this->handleState.gSTA = 1;
    }
  }

  // gDTA. Finger A object detection.
  this->handleState.gDTA = this->GetObjectDetection(this->joints[2], 2,
    this->handleCommand.rPRA, this->prevCommand.rPRA);

  // gDTB. Finger B object detection.
  this->handleState.gDTB = this->GetObjectDetection(this->joints[3], 3,
    this->handleCommand.rPRB, this->prevCommand.rPRB);

  // gDTC. Finger C object detection
  this->handleState.gDTC = this->GetObjectDetection(this->joints[4], 4,
    this->handleCommand.rPRC, this->prevCommand.rPRC);

  // gDTS. Scissor object detection. We use finger A as a reference.
  this->handleState.gDTS = this->GetObjectDetection(this->joints[0], 0,
    this->handleCommand.rPRS, this->prevCommand.rPRS);

  // gFLT. Fault status.
  if (this->handState == ChangeModeInProgress)
    this->handleState.gFLT = 6;
  else if (this->handState == Disabled)
    this->handleState.gFLT = 7;
  else if (this->handState == Emergency)
    this->handleState.gFLT = 11;
  else
    this->handleState.gFLT = 0;

  // gPRA. Echo of requested position for finger A.
  this->handleState.gPRA = this->userHandleCommand.rPRA;
  // gPOA. Finger A position [0-255].
  this->handleState.gPOA = this->GetCurrentPosition(this->joints[2]);
  // gCUA. Not implemented.
  this->handleState.gCUA = 0;

  // gPRB. Echo of requested position for finger B.
  this->handleState.gPRB = this->userHandleCommand.rPRB;
  // gPOB. Finger B position [0-255].
  this->handleState.gPOB = this->GetCurrentPosition(this->joints[3]);
  // gCUB. Not implemented.
  this->handleState.gCUB = 0;

  // gPRC. Echo of requested position for finger C.
  this->handleState.gPRC = this->userHandleCommand.rPRC;
  // gPOC. Finger C position [0-255].
  this->handleState.gPOC = this->GetCurrentPosition(this->joints[4]);
  // gCUS. Not implemented.
  this->handleState.gCUC = 0;

  // gPRS. Echo of requested position of the scissor action
  this->handleState.gPRS = this->userHandleCommand.rPRS;
  // gPOS. Scissor current position [0-255]. We use finger B as reference.
  this->handleState.gPOS = this->GetCurrentPosition(this->joints[1]);
  // gCUS. Not implemented.
  this->handleState.gCUS = 0;

  // Publish robot states.
  this->pubHandleStateQueue->push(this->handleState, this->pubHandleState);
}

void RobotiqHandPlugin::GetAndPublishJointState(
                                           const gazebo::common::Time &_curTime)
{
  this->jointStates.header.stamp = ros::Time(_curTime.sec, _curTime.nsec);
  for (size_t i = 0; i < this->joints.size(); ++i)
  {
#if GAZEBO_MAJOR_VERSION >= 9
    this->jointStates.position[i] = this->joints[i]->Position(0);
#else
    this->jointStates.position[i] = this->joints[i]->GetAngle(0).Radian();
#endif
    this->jointStates.velocity[i] = this->joints[i]->GetVelocity(0);
    // better to use GetForceTorque dot joint axis
    this->jointStates.effort[i] = this->joints[i]->GetForce(0u);
  }
  this->pubJointStatesQueue->push(this->jointStates, this->pubJointStates);
}

void RobotiqHandPlugin::UpdatePIDControl(double _dt)
{
  if (this->handState == Disabled)
  {
    for (int i = 0; i < this->NumJoints; ++i)
      this->fingerJoints[i]->SetForce(0, 0.0);

    return;
  }

  for (int i = 0; i < this->NumJoints; ++i)
  {
    double targetPose = 0.0;
    double targetSpeed = (this->MinVelocity + this->MaxVelocity) / 2.0;

    if (i == 0)
    {
      switch (this->graspingMode)
      {
        case Wide:
#if GAZEBO_MAJOR_VERSION >= 9
          targetPose = this->joints[i]->UpperLimit(0);
#else
          targetPose = this->joints[i]->GetUpperLimit(0).Radian();
#endif
          break;

        case Pinch:
          // --11 degrees.
          targetPose = -0.1919;
          break;

        case Scissor:
          // Max position is reached at value 215.
#if GAZEBO_MAJOR_VERSION >= 9
          targetPose = this->joints[i]->UpperLimit(0) -
            (this->joints[i]->UpperLimit(0) -
             this->joints[i]->LowerLimit(0)) * (215.0 / 255.0)
#else
          targetPose = this->joints[i]->GetUpperLimit(0).Radian() -
            (this->joints[i]->GetUpperLimit(0).Radian() -
             this->joints[i]->GetLowerLimit(0).Radian()) * (215.0 / 255.0)
#endif
            * this->handleCommand.rPRA / 255.0;
          break;
      }
    }
    else if (i == 1)
    {
      switch (this->graspingMode)
      {
        case Wide:
#if GAZEBO_MAJOR_VERSION >= 9
          targetPose = this->joints[i]->LowerLimit(0);
#else
          targetPose = this->joints[i]->GetLowerLimit(0).Radian();
#endif
          break;

        case Pinch:
          // 11 degrees.
          targetPose = 0.1919;
          break;

        case Scissor:
        // Max position is reached at value 215.
#if GAZEBO_MAJOR_VERSION >= 9
          targetPose = this->joints[i]->LowerLimit(0) +
            (this->joints[i]->UpperLimit(0) -
             this->joints[i]->LowerLimit(0)) * (215.0 / 255.0)
#else
          targetPose = this->joints[i]->GetLowerLimit(0).Radian() +
            (this->joints[i]->GetUpperLimit(0).Radian() -
             this->joints[i]->GetLowerLimit(0).Radian()) * (215.0 / 255.0)
#endif
            * this->handleCommand.rPRA / 255.0;
          break;
      }
    }
    else if (i >= 2 && i <= 4)
    {
      if (this->graspingMode == Pinch)
      {
        // Max position is reached at value 177.
#if GAZEBO_MAJOR_VERSION >= 9
        targetPose = this->joints[i]->LowerLimit(0) +
          (this->joints[i]->UpperLimit(0) -
           this->joints[i]->LowerLimit(0)) * (177.0 / 255.0)
#else
        targetPose = this->joints[i]->GetLowerLimit(0).Radian() +
          (this->joints[i]->GetUpperLimit(0).Radian() -
           this->joints[i]->GetLowerLimit(0).Radian()) * (177.0 / 255.0)
#endif
          * this->handleCommand.rPRA / 255.0;
      }
      else if (this->graspingMode == Scissor)
      {
        targetSpeed = this->MinVelocity +
          ((this->MaxVelocity - this->MinVelocity) *
          this->handleCommand.rSPA / 255.0);
      }
      else
      {
#if GAZEBO_MAJOR_VERSION >= 9
        targetPose = this->joints[i]->LowerLimit(0) +
          (this->joints[i]->UpperLimit(0) -
           this->joints[i]->LowerLimit(0))
#else
        targetPose = this->joints[i]->GetLowerLimit(0).Radian() +
          (this->joints[i]->GetUpperLimit(0).Radian() -
           this->joints[i]->GetLowerLimit(0).Radian())
#endif
          * this->handleCommand.rPRA / 255.0;
      }
    }

    // Get the current pose.
#if GAZEBO_MAJOR_VERSION >= 9
    double currentPose = this->joints[i]->Position(0);
#else
    double currentPose = this->joints[i]->GetAngle(0).Radian();
#endif

    // Position error.
    double poseError = currentPose - targetPose;

    // Update the PID.
    double torque = this->posePID[i].Update(poseError, _dt);

    // Apply the PID command.
    this->fingerJoints[i]->SetForce(0, torque);
  }
}

bool RobotiqHandPlugin::GetAndPushBackJoint(const std::string& _jointName,
                                            gazebo::physics::Joint_V& _joints)
{
  gazebo::physics::JointPtr joint = this->model->GetJoint(_jointName);

  if (!joint)
  {
    gzerr << "Failed to find joint [" << _jointName
          << "] aborting plugin load." << std::endl;
    return false;
  }
  _joints.push_back(joint);
  gzlog << "RobotiqHandPlugin found joint [" << _jointName << "]" << std::endl;
  return true;
}

bool RobotiqHandPlugin::FindJoints()
{
  // Load up the joints we expect to use, finger by finger.
  gazebo::physics::JointPtr joint;
  std::string prefix;
  std::string suffix;
  if (this->side == "left")
    prefix = "l_";
  else
    prefix = "r_";

  // palm_finger_1_joint (actuated).
  suffix = "palm_finger_1_joint";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  if (!this->GetAndPushBackJoint(prefix + suffix, this->fingerJoints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // palm_finger_2_joint (actuated).
  suffix = "palm_finger_2_joint";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  if (!this->GetAndPushBackJoint(prefix + suffix, this->fingerJoints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // We read the joint state from finger_1_joint_1
  // but we actuate finger_1_joint_proximal_actuating_hinge (actuated).
  suffix = "finger_1_joint_proximal_actuating_hinge";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->fingerJoints))
    return false;
  suffix = "finger_1_joint_1";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // We read the joint state from finger_2_joint_1
  // but we actuate finger_2_proximal_actuating_hinge (actuated).
  suffix = "finger_2_joint_proximal_actuating_hinge";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->fingerJoints))
    return false;
  suffix = "finger_2_joint_1";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // We read the joint state from finger_middle_joint_1
  // but we actuate finger_middle_proximal_actuating_hinge (actuated).
  suffix = "finger_middle_joint_proximal_actuating_hinge";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->fingerJoints))
    return false;
  suffix = "finger_middle_joint_1";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_1_joint_2 (underactuated).
  suffix = "finger_1_joint_2";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_1_joint_3 (underactuated).
  suffix = "finger_1_joint_3";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_2_joint_2 (underactuated).
  suffix = "finger_2_joint_2";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_2_joint_3 (underactuated).
  suffix = "finger_2_joint_3";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // palm_finger_middle_joint (underactuated).
  suffix = "palm_finger_middle_joint";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_middle_joint_2 (underactuated).
  suffix = "finger_middle_joint_2";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  // finger_middle_joint_3 (underactuated).
  suffix = "finger_middle_joint_3";
  if (!this->GetAndPushBackJoint(prefix + suffix, this->joints))
    return false;
  this->jointNames.push_back(prefix + suffix);

  gzlog << "RobotiqHandPlugin found all joints for " << this->side
        << " hand." << std::endl;
  return true;
}

void RobotiqHandPlugin::RosQueueThread()
{
  static const double timeout = 0.01;

  while (this->rosNode->ok())
  {
    this->rosQueue.callAvailable(ros::WallDuration(timeout));
  }
}

GZ_REGISTER_MODEL_PLUGIN(RobotiqHandPlugin)