Program Listing for File robotiq_activation_controller.hpp
↰ Return to documentation for file (/tmp/ws/src/ros2_robotiq_gripper/robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp
)
// Copyright (c) 2022 PickNik, Inc.
//
// 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 {copyright_holder} 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 HOLDER 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.
#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