From 65b27366331982bb99669900171cec4528caf95f Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Fri, 29 Nov 2024 10:33:29 +0100 Subject: [PATCH 01/14] Added IOGripperController msgs. --- control_msgs/CMakeLists.txt | 2 ++ control_msgs/msg/IoGripperSensor.msg | 1 + control_msgs/srv/SetConfig.srv | 4 ++++ 3 files changed, 7 insertions(+) create mode 100644 control_msgs/msg/IoGripperSensor.msg create mode 100644 control_msgs/srv/SetConfig.srv diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 52240e0..e374894 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -39,6 +39,7 @@ set(msg_files msg/SingleDOFStateStamped.msg msg/SteeringControllerStatus.msg msg/SpeedScalingFactor.msg + msg/IoGripperSensor.msg ) set(action_files @@ -53,6 +54,7 @@ set(action_files set(srv_files srv/QueryCalibrationState.srv srv/QueryTrajectoryState.srv + srv/SetConfig.srv ) rosidl_generate_interfaces(${PROJECT_NAME} diff --git a/control_msgs/msg/IoGripperSensor.msg b/control_msgs/msg/IoGripperSensor.msg new file mode 100644 index 0000000..aed19c3 --- /dev/null +++ b/control_msgs/msg/IoGripperSensor.msg @@ -0,0 +1 @@ +bool state \ No newline at end of file diff --git a/control_msgs/srv/SetConfig.srv b/control_msgs/srv/SetConfig.srv new file mode 100644 index 0000000..de99242 --- /dev/null +++ b/control_msgs/srv/SetConfig.srv @@ -0,0 +1,4 @@ +string config_name +--- +bool result +string status \ No newline at end of file From aece6f94d7ddc35666cc511006794c35ea7d757a Mon Sep 17 00:00:00 2001 From: Manuel Muth Date: Wed, 11 Dec 2024 10:11:30 +0000 Subject: [PATCH 02/14] Update actions, add action for Gripper (open/close) and setting a configuration of a gripepr for gripper_io_controller --- control_msgs/CMakeLists.txt | 2 ++ control_msgs/action/Gripper.action | 6 ++++++ control_msgs/action/SetGripperConfig.action | 6 ++++++ 3 files changed, 14 insertions(+) create mode 100644 control_msgs/action/Gripper.action create mode 100644 control_msgs/action/SetGripperConfig.action diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index e374894..314a918 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -49,6 +49,8 @@ set(action_files action/JointTrajectory.action action/PointHead.action action/SingleJointPosition.action + action/Gripper.action + action/SetGripperConfig.action ) set(srv_files diff --git a/control_msgs/action/Gripper.action b/control_msgs/action/Gripper.action new file mode 100644 index 0000000..f8a6fdb --- /dev/null +++ b/control_msgs/action/Gripper.action @@ -0,0 +1,6 @@ +bool open +--- +bool success +string message +--- +uint8 state \ No newline at end of file diff --git a/control_msgs/action/SetGripperConfig.action b/control_msgs/action/SetGripperConfig.action new file mode 100644 index 0000000..e832414 --- /dev/null +++ b/control_msgs/action/SetGripperConfig.action @@ -0,0 +1,6 @@ +string config_name +--- +bool result +string status +--- +uint8 state \ No newline at end of file From 4b40c3084bd5227819da66747538c1ef7e011f6d Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Sat, 21 Dec 2024 19:45:36 +0100 Subject: [PATCH 03/14] fix: standardize end-of-file formatting in control_msgs --- control_msgs/action/Gripper.action | 2 +- control_msgs/action/SetGripperConfig.action | 2 +- control_msgs/msg/IoGripperSensor.msg | 2 +- control_msgs/srv/SetConfig.srv | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/control_msgs/action/Gripper.action b/control_msgs/action/Gripper.action index f8a6fdb..635cab1 100644 --- a/control_msgs/action/Gripper.action +++ b/control_msgs/action/Gripper.action @@ -3,4 +3,4 @@ bool open bool success string message --- -uint8 state \ No newline at end of file +uint8 state diff --git a/control_msgs/action/SetGripperConfig.action b/control_msgs/action/SetGripperConfig.action index e832414..a54ce2c 100644 --- a/control_msgs/action/SetGripperConfig.action +++ b/control_msgs/action/SetGripperConfig.action @@ -3,4 +3,4 @@ string config_name bool result string status --- -uint8 state \ No newline at end of file +uint8 state diff --git a/control_msgs/msg/IoGripperSensor.msg b/control_msgs/msg/IoGripperSensor.msg index aed19c3..119c839 100644 --- a/control_msgs/msg/IoGripperSensor.msg +++ b/control_msgs/msg/IoGripperSensor.msg @@ -1 +1 @@ -bool state \ No newline at end of file +bool state diff --git a/control_msgs/srv/SetConfig.srv b/control_msgs/srv/SetConfig.srv index de99242..fd8bf8d 100644 --- a/control_msgs/srv/SetConfig.srv +++ b/control_msgs/srv/SetConfig.srv @@ -1,4 +1,4 @@ string config_name --- bool result -string status \ No newline at end of file +string status From ebcff474aab781ccc18548587fc4d4758cc01fe2 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Thu, 2 Jan 2025 12:11:02 +0100 Subject: [PATCH 04/14] Update CMakeLists.txt --- control_msgs/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 314a918..e789a06 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -39,7 +39,7 @@ set(msg_files msg/SingleDOFStateStamped.msg msg/SteeringControllerStatus.msg msg/SpeedScalingFactor.msg - msg/IoGripperSensor.msg + msg/IOGripperSensor.msg ) set(action_files From 90a82bfd72a8e62fac2cb261086d4053320b1881 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Thu, 2 Jan 2025 12:11:18 +0100 Subject: [PATCH 05/14] Rename IoGripperSensor.msg to IOGripperSensor.msg --- control_msgs/msg/{IoGripperSensor.msg => IOGripperSensor.msg} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename control_msgs/msg/{IoGripperSensor.msg => IOGripperSensor.msg} (100%) diff --git a/control_msgs/msg/IoGripperSensor.msg b/control_msgs/msg/IOGripperSensor.msg similarity index 100% rename from control_msgs/msg/IoGripperSensor.msg rename to control_msgs/msg/IOGripperSensor.msg From af79a5cb040c700926be8a8cd5bed3221aa00092 Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Thu, 2 Jan 2025 22:45:50 +0100 Subject: [PATCH 06/14] renamed interface names and added doc --- control_msgs/CMakeLists.txt | 7 +++--- control_msgs/action/Gripper.action | 6 ----- control_msgs/action/IOGripperCommand.action | 18 +++++++++++++++ control_msgs/action/SetGripperConfig.action | 6 ----- control_msgs/action/SetIOGripperConfig.action | 22 +++++++++++++++++++ control_msgs/msg/IOGripperSensor.msg | 1 - control_msgs/srv/SetConfig.srv | 4 ---- control_msgs/srv/SetIOGripperConfig.srv | 9 ++++++++ 8 files changed, 52 insertions(+), 21 deletions(-) delete mode 100644 control_msgs/action/Gripper.action create mode 100644 control_msgs/action/IOGripperCommand.action delete mode 100644 control_msgs/action/SetGripperConfig.action create mode 100644 control_msgs/action/SetIOGripperConfig.action delete mode 100644 control_msgs/msg/IOGripperSensor.msg delete mode 100644 control_msgs/srv/SetConfig.srv create mode 100644 control_msgs/srv/SetIOGripperConfig.srv diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index e789a06..9cc357b 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -39,24 +39,23 @@ set(msg_files msg/SingleDOFStateStamped.msg msg/SteeringControllerStatus.msg msg/SpeedScalingFactor.msg - msg/IOGripperSensor.msg ) set(action_files action/ParallelGripperCommand.action action/FollowJointTrajectory.action action/GripperCommand.action + action/IOGripperCommand.action action/JointTrajectory.action action/PointHead.action + action/SetIOGripperConfig.action action/SingleJointPosition.action - action/Gripper.action - action/SetGripperConfig.action ) set(srv_files srv/QueryCalibrationState.srv srv/QueryTrajectoryState.srv - srv/SetConfig.srv + srv/SetIOGripperConfig.srv ) rosidl_generate_interfaces(${PROJECT_NAME} diff --git a/control_msgs/action/Gripper.action b/control_msgs/action/Gripper.action deleted file mode 100644 index 635cab1..0000000 --- a/control_msgs/action/Gripper.action +++ /dev/null @@ -1,6 +0,0 @@ -bool open ---- -bool success -string message ---- -uint8 state diff --git a/control_msgs/action/IOGripperCommand.action b/control_msgs/action/IOGripperCommand.action new file mode 100644 index 0000000..173c038 --- /dev/null +++ b/control_msgs/action/IOGripperCommand.action @@ -0,0 +1,18 @@ +# This action interface is defined for controlling the io gripper controller to open or close the gripper + +# The io_gripper_controller follows a set of states to open/close the gripper +# The states are defined as follows: +# IDLE (0): The gripper is in an idle state, not performing any action. +# SET_BEFORE_COMMAND (1): The gripper is preparing to execute a command. +# CLOSE_GRIPPER (2): The gripper is closing. +# CHECK_GRIPPER_STATE (3): The gripper is checking its current state. +# OPEN_GRIPPER (4): The gripper is opening. +# SET_AFTER_COMMAND (5): The gripper is finalizing the command execution. +# HALTED (6): The gripper has halted due to an error or stop command. + +bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close) +--- +bool success # true for performing the gripper command successfully and vice versa +string message # informational, e.g. for success or error messages +--- +uint8 state # state of the gripper as defined above diff --git a/control_msgs/action/SetGripperConfig.action b/control_msgs/action/SetGripperConfig.action deleted file mode 100644 index a54ce2c..0000000 --- a/control_msgs/action/SetGripperConfig.action +++ /dev/null @@ -1,6 +0,0 @@ -string config_name ---- -bool result -string status ---- -uint8 state diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action new file mode 100644 index 0000000..1749b75 --- /dev/null +++ b/control_msgs/action/SetIOGripperConfig.action @@ -0,0 +1,22 @@ +# This action interface is defined for setting the configuration of the io gripper controller +# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings +# e.g. configurations: ["stichmass_125", "stichmass_250"] +# The action request is called with the name of the configuration to be set + +# The io_gripper_controller follows a set of states to reconfigure the gripper +# The states are defined as follows: +# Enum representing the states of the reconfiguration process. +# +# States: +# - IDLE (0): The reconfiguration process is idle, not performing any action. +# - FIND_CONFIG (1): Finding the configuration settings. +# - SET_COMMAND (2): Setting the command based on the configuration. +# - CHECK_STATE (3): Checking the state after setting the command. + + +string config_name # information about which configuration is being set for the gripper controller +--- +bool result # indicate success for setting the configuration of the gripper controller and vice versa +string status # informational, e.g. for success or error messages +--- +uint8 state # state of the gripper as defined above diff --git a/control_msgs/msg/IOGripperSensor.msg b/control_msgs/msg/IOGripperSensor.msg deleted file mode 100644 index 119c839..0000000 --- a/control_msgs/msg/IOGripperSensor.msg +++ /dev/null @@ -1 +0,0 @@ -bool state diff --git a/control_msgs/srv/SetConfig.srv b/control_msgs/srv/SetConfig.srv deleted file mode 100644 index fd8bf8d..0000000 --- a/control_msgs/srv/SetConfig.srv +++ /dev/null @@ -1,4 +0,0 @@ -string config_name ---- -bool result -string status diff --git a/control_msgs/srv/SetIOGripperConfig.srv b/control_msgs/srv/SetIOGripperConfig.srv new file mode 100644 index 0000000..fc8b3bd --- /dev/null +++ b/control_msgs/srv/SetIOGripperConfig.srv @@ -0,0 +1,9 @@ +# This service interface is defined for setting the configuration of the io gripper controller +# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings +# e.g. configurations: ["stichmass_125", "stichmass_250"] +# The service request is called with the name of the configuration to be set + +string config_name # information about which configuration is being set for the gripper controller +--- +bool result # indicate success for setting the configuration of the gripper controller and vice versa +string status # informational, e.g. for success or error messages From e823a9e7effdd5a9892d216388c02671fd69ec28 Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Fri, 3 Jan 2025 01:51:58 +0100 Subject: [PATCH 07/14] removed whitespace line --- control_msgs/action/SetIOGripperConfig.action | 1 - 1 file changed, 1 deletion(-) diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action index 1749b75..e10c8e2 100644 --- a/control_msgs/action/SetIOGripperConfig.action +++ b/control_msgs/action/SetIOGripperConfig.action @@ -6,7 +6,6 @@ # The io_gripper_controller follows a set of states to reconfigure the gripper # The states are defined as follows: # Enum representing the states of the reconfiguration process. -# # States: # - IDLE (0): The reconfiguration process is idle, not performing any action. # - FIND_CONFIG (1): Finding the configuration settings. From d1d054a9ca5b0bca9a766740288c055a16e470a3 Mon Sep 17 00:00:00 2001 From: Sachin Kumar Date: Thu, 9 Jan 2025 19:10:25 +0100 Subject: [PATCH 08/14] Update code for states Co-authored-by: Dr. Denis --- control_msgs/action/IOGripperCommand.action | 26 ++++++++++++++------- 1 file changed, 17 insertions(+), 9 deletions(-) diff --git a/control_msgs/action/IOGripperCommand.action b/control_msgs/action/IOGripperCommand.action index 173c038..ab568a2 100644 --- a/control_msgs/action/IOGripperCommand.action +++ b/control_msgs/action/IOGripperCommand.action @@ -1,14 +1,22 @@ # This action interface is defined for controlling the io gripper controller to open or close the gripper -# The io_gripper_controller follows a set of states to open/close the gripper -# The states are defined as follows: -# IDLE (0): The gripper is in an idle state, not performing any action. -# SET_BEFORE_COMMAND (1): The gripper is preparing to execute a command. -# CLOSE_GRIPPER (2): The gripper is closing. -# CHECK_GRIPPER_STATE (3): The gripper is checking its current state. -# OPEN_GRIPPER (4): The gripper is opening. -# SET_AFTER_COMMAND (5): The gripper is finalizing the command execution. -# HALTED (6): The gripper has halted due to an error or stop command. +# The grippers are going through the different states during opening and closing process. +# Those are returned as feedback. + +# The gripper is in an idle state, not performing any action. +uint8 IDLE=0 +# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks. +uint8 SET_BEFORE_COMMAND=1 +# The close comand is sent to gripper on its command interfaces. +uint8 CLOSE_GRIPPER=2 +# The controller is checking its current gripper's state on state interfaces. +uint8 CHECK_GRIPPER_STATE=3 +# The open comand is sent to gripper on its command interfaces. +uint8 OPEN_GRIPPER=4 +# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks. +uint8 SET_AFTER_COMMAND=5 +# The gripper has halted due to an error or stop command. +uint8 HALTED=6 bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close) --- From c02e54bf49ceecfe89b6d477f1320e4fa7567b50 Mon Sep 17 00:00:00 2001 From: Sachin Kumar Date: Thu, 9 Jan 2025 19:12:21 +0100 Subject: [PATCH 09/14] configuration names modified Co-authored-by: Dr. Denis --- control_msgs/srv/SetIOGripperConfig.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_msgs/srv/SetIOGripperConfig.srv b/control_msgs/srv/SetIOGripperConfig.srv index fc8b3bd..8747e7d 100644 --- a/control_msgs/srv/SetIOGripperConfig.srv +++ b/control_msgs/srv/SetIOGripperConfig.srv @@ -1,6 +1,6 @@ # This service interface is defined for setting the configuration of the io gripper controller # In yaml file of the io_gripper_controller, the configuration is defined as a list of strings -# e.g. configurations: ["stichmass_125", "stichmass_250"] +# e.g. configurations: ["narrow_objects", "wide_objects"] # The service request is called with the name of the configuration to be set string config_name # information about which configuration is being set for the gripper controller From 5aeb6d25bd44371b75072b0149967ed33ce2589e Mon Sep 17 00:00:00 2001 From: Sachin Kumar Date: Thu, 9 Jan 2025 23:04:52 +0100 Subject: [PATCH 10/14] configuration names modified Co-authored-by: Dr. Denis --- control_msgs/action/SetIOGripperConfig.action | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action index e10c8e2..afb81db 100644 --- a/control_msgs/action/SetIOGripperConfig.action +++ b/control_msgs/action/SetIOGripperConfig.action @@ -1,6 +1,6 @@ # This action interface is defined for setting the configuration of the io gripper controller # In yaml file of the io_gripper_controller, the configuration is defined as a list of strings -# e.g. configurations: ["stichmass_125", "stichmass_250"] +# e.g. configurations: ["narrow_objects", "wide_objects"] # The action request is called with the name of the configuration to be set # The io_gripper_controller follows a set of states to reconfigure the gripper From d460ba82dc91336785e6d524dbc2b4f895655103 Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Thu, 9 Jan 2025 23:02:51 +0100 Subject: [PATCH 11/14] pre-commit fix --- control_msgs/action/IOGripperCommand.action | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control_msgs/action/IOGripperCommand.action b/control_msgs/action/IOGripperCommand.action index ab568a2..ec9df33 100644 --- a/control_msgs/action/IOGripperCommand.action +++ b/control_msgs/action/IOGripperCommand.action @@ -4,14 +4,14 @@ # Those are returned as feedback. # The gripper is in an idle state, not performing any action. -uint8 IDLE=0 +uint8 IDLE=0 # The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks. uint8 SET_BEFORE_COMMAND=1 -# The close comand is sent to gripper on its command interfaces. +# The close command is sent to gripper on its command interfaces. uint8 CLOSE_GRIPPER=2 # The controller is checking its current gripper's state on state interfaces. uint8 CHECK_GRIPPER_STATE=3 -# The open comand is sent to gripper on its command interfaces. +# The open command is sent to gripper on its command interfaces. uint8 OPEN_GRIPPER=4 # The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks. uint8 SET_AFTER_COMMAND=5 From 017ed60cdc5f49da3fc71b1592208115d8825b87 Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Thu, 9 Jan 2025 23:09:44 +0100 Subject: [PATCH 12/14] doc updated for states --- control_msgs/action/SetIOGripperConfig.action | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action index afb81db..2bae546 100644 --- a/control_msgs/action/SetIOGripperConfig.action +++ b/control_msgs/action/SetIOGripperConfig.action @@ -7,10 +7,12 @@ # The states are defined as follows: # Enum representing the states of the reconfiguration process. # States: -# - IDLE (0): The reconfiguration process is idle, not performing any action. -# - FIND_CONFIG (1): Finding the configuration settings. -# - SET_COMMAND (2): Setting the command based on the configuration. -# - CHECK_STATE (3): Checking the state after setting the command. +# The reconfiguration process is idle, not performing any action. +uint8 IDLE=0 +# Setting the command based on the configuration. +uint8 SET_COMMAND=1 +# Checking the state after setting the command. +uint8 CHECK_STATE=2 string config_name # information about which configuration is being set for the gripper controller From 49f4a8533b286e1375c6c60bb026cfb1139a4a7f Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Fri, 17 Jan 2025 16:06:45 +0100 Subject: [PATCH 13/14] Update messges to have better status from the gripper. --- control_msgs/CMakeLists.txt | 2 ++ control_msgs/action/IOGripperCommand.action | 17 +-------------- control_msgs/action/SetIOGripperConfig.action | 12 +---------- control_msgs/msg/IOGripperControllerState.msg | 7 +++++++ control_msgs/msg/IOGripperState.msg | 21 +++++++++++++++++++ 5 files changed, 32 insertions(+), 27 deletions(-) create mode 100644 control_msgs/msg/IOGripperControllerState.msg create mode 100644 control_msgs/msg/IOGripperState.msg diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 9cc357b..6940d7b 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -26,6 +26,8 @@ set(msg_files msg/DynamicJointState.msg msg/GripperCommand.msg msg/InterfaceValue.msg + msg/IOGripperControllerState.msg + msg/IOGripperState.msg msg/JointComponentTolerance.msg msg/JointControllerState.msg msg/JointJog.msg diff --git a/control_msgs/action/IOGripperCommand.action b/control_msgs/action/IOGripperCommand.action index ec9df33..64150e8 100644 --- a/control_msgs/action/IOGripperCommand.action +++ b/control_msgs/action/IOGripperCommand.action @@ -3,24 +3,9 @@ # The grippers are going through the different states during opening and closing process. # Those are returned as feedback. -# The gripper is in an idle state, not performing any action. -uint8 IDLE=0 -# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks. -uint8 SET_BEFORE_COMMAND=1 -# The close command is sent to gripper on its command interfaces. -uint8 CLOSE_GRIPPER=2 -# The controller is checking its current gripper's state on state interfaces. -uint8 CHECK_GRIPPER_STATE=3 -# The open command is sent to gripper on its command interfaces. -uint8 OPEN_GRIPPER=4 -# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks. -uint8 SET_AFTER_COMMAND=5 -# The gripper has halted due to an error or stop command. -uint8 HALTED=6 - bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close) --- bool success # true for performing the gripper command successfully and vice versa string message # informational, e.g. for success or error messages --- -uint8 state # state of the gripper as defined above +IOGripperState transition # state of the gripper during transition as defined above diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action index 2bae546..bde7fb1 100644 --- a/control_msgs/action/SetIOGripperConfig.action +++ b/control_msgs/action/SetIOGripperConfig.action @@ -4,20 +4,10 @@ # The action request is called with the name of the configuration to be set # The io_gripper_controller follows a set of states to reconfigure the gripper -# The states are defined as follows: -# Enum representing the states of the reconfiguration process. -# States: -# The reconfiguration process is idle, not performing any action. -uint8 IDLE=0 -# Setting the command based on the configuration. -uint8 SET_COMMAND=1 -# Checking the state after setting the command. -uint8 CHECK_STATE=2 - string config_name # information about which configuration is being set for the gripper controller --- bool result # indicate success for setting the configuration of the gripper controller and vice versa string status # informational, e.g. for success or error messages --- -uint8 state # state of the gripper as defined above +IOGripperState transition # state of the gripper during transition as defined above diff --git a/control_msgs/msg/IOGripperControllerState.msg b/control_msgs/msg/IOGripperControllerState.msg new file mode 100644 index 0000000..a8cfa31 --- /dev/null +++ b/control_msgs/msg/IOGripperControllerState.msg @@ -0,0 +1,7 @@ +# Name of the gripper open close state. Note that it can have mutliple "closed" states. If empty, then transition is happening and check the state of the transition. +string open_close +IOGripperState open_close_transition + +# Name of the gripper's current configuration. If empty, then transition is happening and check the state of the transition. +string configuration +IOGripperState configuration_transition \ No newline at end of file diff --git a/control_msgs/msg/IOGripperState.msg b/control_msgs/msg/IOGripperState.msg new file mode 100644 index 0000000..d3cc9a3 --- /dev/null +++ b/control_msgs/msg/IOGripperState.msg @@ -0,0 +1,21 @@ +# The grippers are going through the different states during opening, closing, and configuraiton chnages process. + +# The gripper is in an idle state, not performing any action. +uint8 IDLE=0 +# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks. +uint8 SET_BEFORE_COMMAND=1 +# (optional) Check if brfore command is set correctly and confirmed by the sensors. +uint8 CHECK_BEFORE_COMMAND=2 +# Set command to gripper's command interfaces. +uint8 SET_COMMAND=11 +# The controller is checking its current gripper's state on state interfaces. +uint8 CHECK_COMMAND=12 +# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks. +uint8 SET_AFTER_COMMAND=21 +# (optional) Check if after command is set correctly and confirmed by the sensors. +uint8 CHECK_AFTER_COMMAND=22 +# The gripper has halted due to an error or stop command. +uint8 HALTED=100 + +# state of the gripper during transitions as defined above +uint8 state From 4427a637f3db73b1885ec033690a2178a79efbfb Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Mon, 20 Jan 2025 08:47:28 +0100 Subject: [PATCH 14/14] pre-commit fix --- control_msgs/msg/IOGripperControllerState.msg | 4 ++-- control_msgs/msg/IOGripperState.msg | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/control_msgs/msg/IOGripperControllerState.msg b/control_msgs/msg/IOGripperControllerState.msg index a8cfa31..8ff868b 100644 --- a/control_msgs/msg/IOGripperControllerState.msg +++ b/control_msgs/msg/IOGripperControllerState.msg @@ -1,7 +1,7 @@ -# Name of the gripper open close state. Note that it can have mutliple "closed" states. If empty, then transition is happening and check the state of the transition. +# Name of the gripper open close state. Note that it can have multiple "closed" states. If empty, then transition is happening and check the state of the transition. string open_close IOGripperState open_close_transition # Name of the gripper's current configuration. If empty, then transition is happening and check the state of the transition. string configuration -IOGripperState configuration_transition \ No newline at end of file +IOGripperState configuration_transition diff --git a/control_msgs/msg/IOGripperState.msg b/control_msgs/msg/IOGripperState.msg index d3cc9a3..cd3bd6e 100644 --- a/control_msgs/msg/IOGripperState.msg +++ b/control_msgs/msg/IOGripperState.msg @@ -1,10 +1,10 @@ -# The grippers are going through the different states during opening, closing, and configuraiton chnages process. +# The grippers are going through the different states during opening, closing, and configuration changes process. # The gripper is in an idle state, not performing any action. uint8 IDLE=0 # The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks. uint8 SET_BEFORE_COMMAND=1 -# (optional) Check if brfore command is set correctly and confirmed by the sensors. +# (optional) Check if before command is set correctly and confirmed by the sensors. uint8 CHECK_BEFORE_COMMAND=2 # Set command to gripper's command interfaces. uint8 SET_COMMAND=11