Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.h>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions
	GripperActionController ()

Non Real-Time Safe Functions
bool	init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

Real-Time Safe Functions
void	starting (const ros::Time &time)
	Holds the current position. More...

void	stopping (const ros::Time &time)
	Cancels the active action goal, if any. More...

void	update (const ros::Time &time, const ros::Duration &period)

Public Member Functions inherited from controller_interface::Controller< HardwareInterface >
	Controller ()

virtual bool	init (HardwareInterface *, ros::NodeHandle &)

virtual	~Controller ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual	~ControllerBase ()

Public Attributes
realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

Commands	command_struct_rt_

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Private Types
typedef actionlib::ActionServer< control_msgs::GripperCommandAction >	ActionServer

typedef boost::shared_ptr< ActionServer >	ActionServerPtr

typedef ActionServer::GoalHandle	GoalHandle

typedef HardwareInterfaceAdapter< HardwareInterface >	HwIfaceAdapter

typedef realtime_tools::RealtimeServerGoalHandle< control_msgs::GripperCommandAction >	RealtimeGoalHandle

typedef boost::shared_ptr< RealtimeGoalHandle >	RealtimeGoalHandlePtr

Private Member Functions
void	cancelCB (GoalHandle gh)

void	checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity)
	Check for success and publish appropriate result and feedback. More...

void	goalCB (GoalHandle gh)

void	preemptActiveGoal ()

void	setHoldPosition (const ros::Time &time)

Private Attributes
ros::Duration	action_monitor_period_

ActionServerPtr	action_server_

double	computed_command_
	Computed command. More...

ros::NodeHandle	controller_nh_

double	default_max_effort_
	Max allowed effort. More...

ros::Timer	goal_handle_timer_

double	goal_tolerance_

HwIfaceAdapter	hw_iface_adapter_
	Adapts desired goal state to HW interface. More...

hardware_interface::JointHandle	joint_
	Handles to controlled joints. More...

std::string	joint_name_
	Controlled joint names. More...

ros::Time	last_movement_time_
	Store stall time. More...

std::string	name_
	Controller name. More...

control_msgs::GripperCommandResultPtr	pre_alloc_result_

RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any. More...

double	stall_timeout_

double	stall_velocity_threshold_
	Stall related parameters. More...

bool	update_hold_position_

bool	verbose_
	Hard coded verbose flag to help in debugging. More...

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Protected Member Functions inherited from controller_interface::Controller< HardwareInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

template<class HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters

HardwareInterface Controller hardware interface. Currently hardware_interface::PositionJointInterface and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 75 of file gripper_action_controller.h.