robotiq_3f_gripper_control::Robotiq3FGripperROS Class Reference

#include <robotiq_3f_gripper_ros.h>

Public Member Functions
void	getCurrentConfig (robotiq_3f_gripper_control::Robotiq3FGripperConfig &config)
bool	handleEmergRelease (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
bool	handleHalt (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
bool	handleInit (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
void	handleRawCmd (const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &msg)
void	handleReconfigure (robotiq_3f_gripper_control::Robotiq3FGripperConfig &config, uint32_t level=0)
bool	handleReset (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
bool	handleShutdown (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &resp)
void	publish ()
	Robotiq3FGripperROS (ros::NodeHandle &nh, boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperAPI > driver, std::vector< std::string > joint_names, ros::Duration desired_update_freq)
void	updateConfig (const robotiq_3f_gripper_control::Robotiq3FGripperConfig &config)

Private Types
typedef dynamic_reconfigure::Server< robotiq_3f_gripper_control::Robotiq3FGripperConfig >	ReconfigureServer
	Reconfigure. More...

Private Attributes
robotiq_3f_gripper_control::Robotiq3FGripperConfig	config_
ros::Duration	desired_update_freq_
	Settings. More...
boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperAPI >	driver_
ros::ServiceServer	emerg_release_srv_
ros::ServiceServer	halt_srv_
ros::ServiceServer	init_srv_
	Services. More...
robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput	input_status_msg_
ros::Publisher	input_status_pub_
	Topics. More...
ros::NodeHandle	nh_
ros::Subscriber	output_sub_
boost::shared_ptr< ReconfigureServer >	reconfigure_
boost::recursive_mutex	reconfigure_mutex_
ros::ServiceServer	reset_srv_
ros::ServiceServer	shutdown_srv_

Detailed Description

Definition at line 38 of file robotiq_3f_gripper_ros.h.

Member Typedef Documentation

typedef dynamic_reconfigure::Server<robotiq_3f_gripper_control::Robotiq3FGripperConfig> robotiq_3f_gripper_control::Robotiq3FGripperROS::ReconfigureServer

private

Reconfigure.

Definition at line 79 of file robotiq_3f_gripper_ros.h.

Constructor & Destructor Documentation

Robotiq3FGripperROS::Robotiq3FGripperROS	(	ros::NodeHandle &	nh,
		boost::shared_ptr< robotiq_3f_gripper_control::Robotiq3FGripperAPI >	driver,
		std::vector< std::string >	joint_names,
		ros::Duration	desired_update_freq
	)

advertise services

advertise topics

subscribers

setup dynamic reconfigure

Definition at line 29 of file robotiq_3f_gripper_ros.cpp.

Member Function Documentation

void Robotiq3FGripperROS::getCurrentConfig

(

robotiq_3f_gripper_control::Robotiq3FGripperConfig &

config

)

Definition at line 183 of file robotiq_3f_gripper_ros.cpp.

bool Robotiq3FGripperROS::handleEmergRelease	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

halt

set controller state (EMERGENCY_RELEASE_ENGAGED)

wait for controller state (ERROR_AUTOMATIC_RELEASE_COMPLETED)

Definition at line 119 of file robotiq_3f_gripper_ros.cpp.

bool Robotiq3FGripperROS::handleHalt	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

check for activation

set controller state (ACTION_STOP)

wait for controller state (ACTION_STOP)

Definition at line 97 of file robotiq_3f_gripper_ros.cpp.

bool Robotiq3FGripperROS::handleInit	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

set controller state (INIT_ACTIVATION)

wait for controller state (GRIPPER_READY)

set action mode to go (ACTION_GO)

wait for controller state (ACTION_GO)

Definition at line 64 of file robotiq_3f_gripper_ros.cpp.

void Robotiq3FGripperROS::handleRawCmd

(

const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &

msg

)

Definition at line 188 of file robotiq_3f_gripper_ros.cpp.

void Robotiq3FGripperROS::handleReconfigure	(	robotiq_3f_gripper_control::Robotiq3FGripperConfig &	config,
		uint32_t	level = 0
	)

Todo:

automatically switch controller based on mode?

Todo:

add individual velocity and force control

Definition at line 155 of file robotiq_3f_gripper_ros.cpp.

bool Robotiq3FGripperROS::handleReset	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

shutdown

init

Definition at line 87 of file robotiq_3f_gripper_ros.cpp.

bool Robotiq3FGripperROS::handleShutdown	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	resp
	)

halt

set controller state (INIT_RESET)

wait for controller state (INIT_RESET)

Definition at line 137 of file robotiq_3f_gripper_ros.cpp.

void Robotiq3FGripperROS::publish

(

)

Definition at line 58 of file robotiq_3f_gripper_ros.cpp.

void Robotiq3FGripperROS::updateConfig

(

const robotiq_3f_gripper_control::Robotiq3FGripperConfig &

config

)

Definition at line 178 of file robotiq_3f_gripper_ros.cpp.

Member Data Documentation

robotiq_3f_gripper_control::Robotiq3FGripperConfig robotiq_3f_gripper_control::Robotiq3FGripperROS::config_

private

Definition at line 82 of file robotiq_3f_gripper_ros.h.

ros::Duration robotiq_3f_gripper_control::Robotiq3FGripperROS::desired_update_freq_

private

Settings.

Definition at line 76 of file robotiq_3f_gripper_ros.h.

boost::shared_ptr<robotiq_3f_gripper_control::Robotiq3FGripperAPI> robotiq_3f_gripper_control::Robotiq3FGripperROS::driver_

private

Definition at line 62 of file robotiq_3f_gripper_ros.h.

ros::ServiceServer robotiq_3f_gripper_control::Robotiq3FGripperROS::emerg_release_srv_

private

Definition at line 68 of file robotiq_3f_gripper_ros.h.

ros::ServiceServer robotiq_3f_gripper_control::Robotiq3FGripperROS::halt_srv_

private

Definition at line 67 of file robotiq_3f_gripper_ros.h.

ros::ServiceServer robotiq_3f_gripper_control::Robotiq3FGripperROS::init_srv_

private

Services.

Definition at line 65 of file robotiq_3f_gripper_ros.h.

robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput robotiq_3f_gripper_control::Robotiq3FGripperROS::input_status_msg_

private

Definition at line 84 of file robotiq_3f_gripper_ros.h.

ros::Publisher robotiq_3f_gripper_control::Robotiq3FGripperROS::input_status_pub_

private

Topics.

Definition at line 72 of file robotiq_3f_gripper_ros.h.

ros::NodeHandle robotiq_3f_gripper_control::Robotiq3FGripperROS::nh_

private

Definition at line 61 of file robotiq_3f_gripper_ros.h.

ros::Subscriber robotiq_3f_gripper_control::Robotiq3FGripperROS::output_sub_

private

Definition at line 73 of file robotiq_3f_gripper_ros.h.

boost::shared_ptr<ReconfigureServer> robotiq_3f_gripper_control::Robotiq3FGripperROS::reconfigure_

private

Definition at line 80 of file robotiq_3f_gripper_ros.h.

boost::recursive_mutex robotiq_3f_gripper_control::Robotiq3FGripperROS::reconfigure_mutex_

private

Definition at line 81 of file robotiq_3f_gripper_ros.h.

ros::ServiceServer robotiq_3f_gripper_control::Robotiq3FGripperROS::reset_srv_

private

Definition at line 66 of file robotiq_3f_gripper_ros.h.

ros::ServiceServer robotiq_3f_gripper_control::Robotiq3FGripperROS::shutdown_srv_

private

Definition at line 69 of file robotiq_3f_gripper_ros.h.

---

The documentation for this class was generated from the following files:

• robotiq_3f_gripper_ros.h
• robotiq_3f_gripper_ros.cpp