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commit 06829ee Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 19:21:07 2025 +0100 removed unused code Co-authored-by: Dr. Denis <[email protected]> commit e82f6a6 Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 19:20:36 2025 +0100 license update Co-authored-by: Dr. Denis <[email protected]> commit 2eb73a2 Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 19:12:52 2025 +0100 removed for merge upstream Co-authored-by: Dr. Denis <[email protected]> commit 6034aeb Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 17:29:59 2025 +0100 not_empty validation added Co-authored-by: Dr. Denis <[email protected]> commit 947da59 Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 17:29:37 2025 +0100 not_empty validation added Co-authored-by: Dr. Denis <[email protected]> commit 2551d41 Author: Sachin Kumar <[email protected]> Date: Wed Jan 15 17:28:59 2025 +0100 copyright update Co-authored-by: Dr. Denis <[email protected]> commit c1df617 Author: sachinkum0009 <[email protected]> Date: Fri Jan 10 00:47:14 2025 +0100 remove set_command state asset commit 7d6cd6f Author: sachinkum0009 <[email protected]> Date: Fri Jan 10 00:46:45 2025 +0100 sort headers alphabatically and remove find_config state commit 3de5224 Author: Sachin Kumar <[email protected]> Date: Fri Jan 10 00:33:08 2025 +0100 sort headers alphabatically Co-authored-by: Dr. Denis <[email protected]> commit e40f164 Author: Sachin Kumar <[email protected]> Date: Fri Jan 10 00:32:10 2025 +0100 copyright update Co-authored-by: Dr. Denis <[email protected]> commit b0a6922 Author: Sachin Kumar <[email protected]> Date: Fri Jan 10 00:31:38 2025 +0100 params updated Co-authored-by: Dr. Denis <[email protected]> commit 9c62539 Author: Sachin Kumar <[email protected]> Date: Fri Jan 10 00:30:30 2025 +0100 Update io_gripper_controller/doc/userdoc.rst Co-authored-by: Dr. Denis <[email protected]> commit a20a981 Author: Sachin Kumar <[email protected]> Date: Fri Jan 10 00:30:08 2025 +0100 user doc updated Co-authored-by: Dr. Denis <[email protected]> commit 37874af Author: sachinkum0009 <[email protected]> Date: Fri Jan 3 02:21:47 2025 +0100 user doc reformatted commit 3943aff Author: sachinkum0009 <[email protected]> Date: Fri Jan 3 02:02:42 2025 +0100 pre-commit changes commit 545d28d Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 23:10:39 2025 +0100 removed unused code commit ac2fc99 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 23:06:04 2025 +0100 - doc string added for rt buffer members - renamed service_buffer_ to gripper_service_buffer_ commit 2bd2bd2 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 22:48:32 2025 +0100 removed unused code Co-authored-by: Dr. Denis <[email protected]> commit d7394e4 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 22:47:01 2025 +0100 interface named changes as per control_msgs commit 485abbf Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 14:03:19 2025 +0100 InterfaceMsg renamed to DynInterfaceMsg for all files commit cd0d6a5 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:57:30 2025 +0100 InterfaceMsg renamed to DynInterfaceMsg Co-authored-by: Dr. Denis <[email protected]> commit 0c08284 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:56:00 2025 +0100 controllerStateMsg changed to jointStateMsg for other files commit 534a723 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:52:29 2025 +0100 controllerStateMsg changed to jointStateMsg Co-authored-by: Dr. Denis <[email protected]> commit 94c9b81 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:51:09 2025 +0100 opensrvtype changed to openclosesrvtype commit dc5e828 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:43:21 2025 +0100 OpenSrvType changed to OpenCloseSrvType Co-authored-by: Dr. Denis <[email protected]> commit f7b4875 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:36:44 2025 +0100 deps updated as per cmakelist commit d4facba Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:30:31 2025 +0100 pkg deps aranged alphabatically commit 099337c Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:28:18 2025 +0100 doc strings with descript of inputs and outputs updated commit 8acbec5 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:18:38 2025 +0100 author and maintainer list updated commit f357e97 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:18:12 2025 +0100 deps changed alphabetically commit 69c47ce Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:21:06 2025 +0100 removed license from xml Co-authored-by: Dr. Denis <[email protected]> commit 8571d6f Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:14:00 2025 +0100 removed interface package deps Co-authored-by: Dr. Denis <[email protected]> commit b13c507 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:12:16 2025 +0100 Update io_gripper_controller/CMakeLists.txt Co-authored-by: Dr. Denis <[email protected]> commit 0ebb499 Author: Sachin Kumar <[email protected]> Date: Thu Jan 2 13:11:37 2025 +0100 Update io_gripper_controller/CMakeLists.txt Co-authored-by: Dr. Denis <[email protected]> commit 4640609 Author: sachinkum0009 <[email protected]> Date: Thu Jan 2 13:06:06 2025 +0100 - removed visibility macros and used solution S1 for visibility macros - removed the template from license - added one variable per line - documented the enums - updated the doc folder as per `joint_trajectory_controller` commit e079889 Author: Dr. Denis <[email protected]> Date: Thu Jan 2 13:00:23 2025 +0100 Delete io_gripper_controller/doc/.gitkeep commit 913ab88 Author: Dr. Denis <[email protected]> Date: Thu Jan 2 12:59:55 2025 +0100 Delete io_gripper_controller/include/io_gripper_controller/visibility_control.h commit 2a5fd5e Author: sachinkum0009 <[email protected]> Date: Mon Dec 23 15:21:39 2024 +0100 using result from set_value - minor code clean commit 353b42a Author: sachinkum0009 <[email protected]> Date: Mon Dec 23 15:13:57 2024 +0100 cleaned the code to impove the readabiligy and consistency commit f5163ed Merge: 3f6a373 81c0d41 Author: Sachin Kumar <[email protected]> Date: Sat Dec 21 18:58:59 2024 +0100 Merge branch 'ros-controls:master' into io_gripper_controller commit 3f6a373 Author: sachinkum0009 <[email protected]> Date: Sat Dec 21 18:57:20 2024 +0100 io gripper controller added which provides functionality to control gripper using ios commit 81c0d41 Author: Christoph Fröhlich <[email protected]> Date: Sat Dec 21 11:36:15 2024 +0100 Fix label of good first issue template (ros-controls#1438)
StoglRobotics-forks · Jan 16, 2025 · ac35ddf · ac35ddf
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diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md
@@ -2,7 +2,7 @@
 name: Good first issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: good-first-issue
+labels: ["good first issue"]
 assignees: ''
 
 ---

diff --git a/io_gripper_controller/CMakeLists.txt b/io_gripper_controller/CMakeLists.txt
@@ -0,0 +1,106 @@
+cmake_minimum_required(VERSION 3.8)
+project(io_gripper_controller)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  ament_cmake
+  ament_cmake_gmock
+  control_msgs
+  controller_interface
+  controller_manager
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  ros2_control_test_assets
+  sensor_msgs
+  std_msgs
+  std_srvs
+)
+
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+generate_parameter_library(io_gripper_controller_parameters
+  src/io_gripper_controller.yaml
+)
+add_library(
+  io_gripper_controller
+  SHARED
+  src/io_gripper_controller.cpp
+)
+target_include_directories(io_gripper_controller PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(io_gripper_controller io_gripper_controller_parameters)
+ament_target_dependencies(io_gripper_controller ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(io_gripper_controller PRIVATE "io_gripper_controller_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(
+  controller_interface io_gripper_controller.xml)
+
+install(
+  TARGETS
+  io_gripper_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+
+  ament_add_gmock(test_load_io_gripper_controller test/test_load_io_gripper_controller.cpp)
+  target_include_directories(test_load_io_gripper_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_io_gripper_controller
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_io_gripper_controller
+    test/test_io_gripper_controller.cpp
+    test/test_io_gripper_controller_open.cpp
+    test/test_io_gripper_controller_close.cpp
+    test/test_io_gripper_controller_all_param_set.cpp
+    test/test_io_gripper_controller_open_close_action.cpp
+    test/test_io_gripper_controller_reconfigure.cpp
+    test/test_io_gripper_controller_reconfigure_action.cpp
+  )
+  target_include_directories(test_io_gripper_controller PRIVATE include)
+  target_link_libraries(test_io_gripper_controller io_gripper_controller)
+  ament_target_dependencies(
+    test_io_gripper_controller
+    controller_interface
+    hardware_interface
+  )
+
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+ament_export_libraries(
+  io_gripper_controller
+)
+
+ament_package()
diff --git a/io_gripper_controller/README.md b/io_gripper_controller/README.md
@@ -0,0 +1,5 @@
+# io_gripper_controller package
+
+The package implements controllers to control the gripper using IOs.
+
+For detailed documentation check the `docs` folder or [ros2_control documentation](https://control.ros.org/).
diff --git a/io_gripper_controller/doc/userdoc.rst b/io_gripper_controller/doc/userdoc.rst
@@ -0,0 +1,102 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/io_gripper_controller/doc/userdoc.rst
+
+.. _io_gripper_controller_userdoc:
+
+io_gripper_controller
+=============================
+
+The IO Gripper Controller provides implementation to control the grippers that are commanded using IOs.
+This is often the case for pneumatic gripper in the industy, that can range from simple parallel gripper up to custom, multi-dof grippers for manipulating specific parts.
+ It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes gripper's joint values if any and provides output for all gripper's command and state interfaces.
+
+Description of controller's interfaces
+---------------------------------------
+
+- ``joint_states`` [``sensor_msgs::msg::JointState``]: Publishes the state of gripper's open/close joint if any and configuration joints that might influece the geometry and kinematics of the gripper.
+- ``dynamic_interfaces`` [``control_msgs::msg::DynamicInterfaceValues``]: Publishes all command and state interface of the IOs and sensors of gripper.
+
+
+Parameters
+,,,,,,,,,,,
+
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+This controller adds the following parameters:
+
+.. generate_parameter_library_details:: ../src/io_gripper_controller.yaml
+
+
+Example parameters
+....................
+
+.. code-block:: yaml
+
+  io_gripper_controller:
+
+    ros__parameters:
+
+      use_action: true
+
+      open_close_joints: [gripper_clamp_jaw]
+
+      open:
+        joint_states: [0.0]
+        set_before_command:
+          high: [Release_Break_valve]
+          low: []
+        command:
+          high: [Open_valve]
+          low: [Close_valve]
+        state:
+          high: [Opened_signal]
+          low: [Closed_signal]
+        set_after_command:
+          high: []
+          low: [Release_Break_valve]
+
+      possible_closed_states: ['empty_close', 'full_close']
+
+      close:
+        set_before_command:
+          high: [Release_Break_valve]
+          low: []
+        command:
+          high: [Close_valve]
+          low: [Open_valve]
+        state:
+          empty_close:
+            joint_states: [0.16]
+            high: [Closed_signal]
+            low: [Part_Grasped_signal]
+            set_after_command_high: []
+            set_after_command_low: [Release_Break_valve]
+          full_close:
+            joint_states: [0.08]
+            high: [Part_Grasped_signal]
+            low: [Closed_signal]
+            set_after_command_high: []
+            set_after_command_low: [Release_Break_valve]
+
+      configurations: ["narrow_objects", "wide_objects"]
+      configuration_joints: [gripper_gripper_distance_joint]
+
+      configuration_setup:
+        narrow_objects:
+          joint_states: [0.1]
+          command_high: [Narrow_Configuration_Cmd]
+          command_low: [Wide_Configuration_Cmd]
+          state_high: [Narrow_Configuraiton_Signal]
+          state_low: [Wide_Configuration_Signal]
+        wide_objects:
+          joint_states: [0.2]
+          command_high: [Wide_Configuration_Cmd]
+          command_low: [Narrow_Configuration_Cmd]
+          state_high: [Wide_Configuration_Signal]
+          state_low: [Narrow_Configuraiton_Signal]
+
+      gripper_specific_sensors: ["part_sensor_top", "part_sensor"]
+      sensors_interfaces:
+        part_sensor_top:
+          input: "Part_Sensor_Top_signal"
+        part_sensor:
+          input: "Part_Grasped_signal"