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Co-authored-by: Jafar Uruç <[email protected]> (cherry picked from commit f47ecb5) Co-authored-by: Marq Rasmussen <[email protected]>
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63 changes: 63 additions & 0 deletions
63
...t_plugins/moveit_ros_control_interface/src/parallel_gripper_command_controller_plugin.cpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2025, Marq Rasmussen | ||
| * All rights reserved. | ||
| * | ||
| * 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 Marq Rasmussen 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 OWNER 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. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Marq Rasmussen */ | ||
|
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| #include <moveit_ros_control_interface/ControllerHandle.hpp> | ||
| #include <pluginlib/class_list_macros.hpp> | ||
| #include <moveit_simple_controller_manager/parallel_gripper_command_controller_handle.hpp> | ||
| #include <rclcpp/node.hpp> | ||
| #include <memory> | ||
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| namespace moveit_ros_control_interface | ||
| { | ||
| /** | ||
| * \brief Simple allocator for moveit_simple_controller_manager::ParallelGripperCommandControllerHandle instances. | ||
| */ | ||
| class ParallelGripperCommandControllerAllocator : public ControllerHandleAllocator | ||
| { | ||
| public: | ||
| moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr& node, | ||
| const std::string& name, | ||
| const std::vector<std::string>& /* resources */) override | ||
| { | ||
| return std::make_shared<moveit_simple_controller_manager::ParallelGripperCommandControllerHandle>(node, name, | ||
| "gripper_cmd"); | ||
| } | ||
| }; | ||
|
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| } // namespace moveit_ros_control_interface | ||
|
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| PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::ParallelGripperCommandControllerAllocator, | ||
| moveit_ros_control_interface::ControllerHandleAllocator); |
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178 changes: 178 additions & 0 deletions
178
...r/include/moveit_simple_controller_manager/parallel_gripper_command_controller_handle.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,178 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2025, Marq Rasmussen | ||
| * All rights reserved. | ||
| * | ||
| * 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 Marq Rasmussen 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 OWNER 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. | ||
| *********************************************************************/ | ||
| /* Design inspired by gripper_command_controller_handle.hpp */ | ||
| /* Author: Marq Rasmussen */ | ||
|
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| #pragma once | ||
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| #include <moveit_simple_controller_manager/action_based_controller_handle.hpp> | ||
| #include <control_msgs/action/parallel_gripper_command.hpp> | ||
| #include <set> | ||
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| namespace moveit_simple_controller_manager | ||
| { | ||
| /* | ||
| * This is an interface for a gripper using the control_msgs/ParallelGripperCommand action interface. | ||
| */ | ||
| class ParallelGripperCommandControllerHandle | ||
| : public ActionBasedControllerHandle<control_msgs::action::ParallelGripperCommand> | ||
| { | ||
| public: | ||
| /* Topics will map to name/ns/goal, name/ns/result, etc */ | ||
| ParallelGripperCommandControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name, | ||
| const std::string& ns, const double max_effort = 0.0, | ||
| const double max_velocity = 0.0) | ||
| : ActionBasedControllerHandle<control_msgs::action::ParallelGripperCommand>( | ||
| node, name, ns, "moveit.simple_controller_manager.parallel_gripper_controller_handle") | ||
| , max_effort_(max_effort) | ||
| , max_velocity_(max_velocity) | ||
| { | ||
| } | ||
|
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| bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override | ||
| { | ||
| RCLCPP_DEBUG_STREAM(logger_, "Received new trajectory for " << name_); | ||
|
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| if (!controller_action_client_) | ||
| return false; | ||
|
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| if (!isConnected()) | ||
| { | ||
| RCLCPP_ERROR_STREAM(logger_, "Action client not connected to action server: " << getActionName()); | ||
| return false; | ||
| } | ||
|
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| if (!trajectory.multi_dof_joint_trajectory.points.empty()) | ||
| { | ||
| RCLCPP_ERROR(logger_, "%s cannot execute multi-dof trajectories.", name_.c_str()); | ||
| return false; | ||
| } | ||
|
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| if (trajectory.joint_trajectory.points.empty()) | ||
| { | ||
| RCLCPP_ERROR(logger_, "%s requires at least one joint trajectory point, but none received.", name_.c_str()); | ||
| return false; | ||
| } | ||
|
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| if (trajectory.joint_trajectory.joint_names.empty()) | ||
| { | ||
| RCLCPP_ERROR(logger_, "%s received a trajectory with no joint names specified.", name_.c_str()); | ||
| return false; | ||
| } | ||
|
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| // goal to be sent | ||
| control_msgs::action::ParallelGripperCommand::Goal goal; | ||
| auto& cmd_state = goal.command; | ||
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| auto& joint_names = trajectory.joint_trajectory.joint_names; | ||
| auto it = std::find(joint_names.begin(), joint_names.end(), command_joint_); | ||
| if (it != joint_names.end()) | ||
| { | ||
| cmd_state.name.push_back(command_joint_); | ||
| std::size_t gripper_joint_index = std::distance(joint_names.begin(), it); | ||
| // send last trajectory point | ||
| if (trajectory.joint_trajectory.points.back().positions.size() <= gripper_joint_index) | ||
| { | ||
| RCLCPP_ERROR(logger_, "ParallelGripperCommand expects a joint trajectory with one \ | ||
| point that specifies at least the position of joint \ | ||
| '%s', but insufficient positions provided.", | ||
| trajectory.joint_trajectory.joint_names[gripper_joint_index].c_str()); | ||
| return false; | ||
| } | ||
| cmd_state.position.push_back(trajectory.joint_trajectory.points.back().positions[gripper_joint_index]); | ||
| // only set the velocity or effort if the user has specified a positive non-zero max value | ||
| if (max_velocity_ > 0.0) | ||
| { | ||
| cmd_state.velocity.push_back(max_velocity_); | ||
| } | ||
| if (max_effort_ > 0.0) | ||
| { | ||
| cmd_state.effort.push_back(max_effort_); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| RCLCPP_ERROR(logger_, "Received trajectory does not include a command for joint name %s.", command_joint_.c_str()); | ||
| return false; | ||
| } | ||
|
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| rclcpp_action::Client<control_msgs::action::ParallelGripperCommand>::SendGoalOptions send_goal_options; | ||
| // Active callback | ||
| send_goal_options.goal_response_callback = | ||
| [this](const rclcpp_action::Client<control_msgs::action::ParallelGripperCommand>::GoalHandle::SharedPtr& | ||
| /* unused-arg */) { RCLCPP_DEBUG_STREAM(logger_, name_ << " started execution."); }; | ||
| // Send goal | ||
| auto current_goal_future = controller_action_client_->async_send_goal(goal, send_goal_options); | ||
| current_goal_ = current_goal_future.get(); | ||
| if (!current_goal_) | ||
| { | ||
| RCLCPP_ERROR(logger_, "%s goal was rejected by server.", name_.c_str()); | ||
| return false; | ||
| } | ||
|
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| done_ = false; | ||
| last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; | ||
| return true; | ||
| } | ||
|
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| void setCommandJoint(const std::string& name) | ||
| { | ||
| command_joint_ = name; | ||
| } | ||
|
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| private: | ||
| void controllerDoneCallback( | ||
| const rclcpp_action::ClientGoalHandle<control_msgs::action::ParallelGripperCommand>::WrappedResult& wrapped_result) | ||
| override | ||
| { | ||
| finishControllerExecution(wrapped_result.code); | ||
| } | ||
|
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| /* | ||
| * The ``max_effort`` used in the ParallelGripperCommand message. | ||
| */ | ||
| double max_effort_ = 0.0; | ||
|
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| /* | ||
| * The ``max_velocity_`` used in the ParallelGripperCommand message. | ||
| */ | ||
| double max_velocity_ = 0.0; | ||
|
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| /* | ||
| * The joint to command in the ParallelGripperCommand message | ||
| */ | ||
| std::string command_joint_; | ||
| }; // namespace moveit_simple_controller_manager | ||
|
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| } // end namespace moveit_simple_controller_manager |
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