Adding Io gripper controller #1439

sachinkum0009 · 2024-12-21T18:17:20Z

This Pull Request introduces the IO Gripper Controller, an implementation for controlling a gripper using IOs. The controller supports functionalities such as open, close, and reconfigure, which can be triggered either through an Action Server or a Service Server. Additionally, the controller publishes the gripper’s state via joint_states and provides dynamic_interfaces to expose all command and state interfaces.

Features

Action and Service Integration: Offers flexible control of gripper operations through action or service calls.
State Publishing: Continuously publishes the gripper's joint states and dynamic interface values for real-time monitoring.

Interfaces

Published Topics

joint_states [sensor_msgs::msg::JointState]:
- Publishes the state of the gripper joint and its configuration joint.
dynamic_interfaces [control_msgs::msg::DynamicInterfaceValues]:
- Publishes all command and state interfaces related to the gripper's IOs and sensors.

This addition enables better modular control of robotic grippers, paving the way for seamless integration in complex robotic systems.

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
Give your PR a descriptive title. Add a short summary, if required.
Make sure the pipeline is green.
Don’t be afraid to request reviews from maintainers.
New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

Fork the repository.
Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
Commit to your fork using clear commit messages.
Send a pull request, answering any default questions in the pull request interface.
Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

…ripper using ios

sachinkum0009 · 2024-12-21T18:40:46Z

This PR depends on this PR

- minor code clean

bmagyar · 2024-12-23T21:12:40Z

io_gripper_controller/README.md

+# IO Gripper Controller
+
+The IO Gripper Controller is provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes `joint_states` of gripper and also `dynamic_interfaces` for all command and state interfaces.
+
+## Description of controller's interfaces
+
+- `joint_states` [`sensor_msgs::msg::JointState`]: Publishes the state of gripper joint and configuration joint
+- `dynamic_interfaces` [`control_msgs::msg::DynamicInterfaceValues`]: Publishes all command and state interface of the IOs and sensors of gripper.
+


this should go into the doc folder in the rst format. For an example please check the joint_trajectory_controller.

bmagyar · 2024-12-23T21:13:22Z

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

@@ -0,0 +1,234 @@
+// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)


Suggested change

// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)

// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)

bmagyar · 2024-12-23T21:13:36Z

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

+// Source of this file are templates in
+// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+//


Suggested change

// Source of this file are templates in

// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.

//

bmagyar · 2024-12-23T21:14:23Z

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

+  IDLE = 0,
+  SET_BEFORE_COMMAND = 1,
+  CLOSE_GRIPPER = 2,
+  CHECK_GRIPPER_STATE = 3,
+  OPEN_GRIPPER = 4,
+  START_CLOSE_GRIPPER = 5,
+  SET_AFTER_COMMAND = 6,
+  HALTED = 7,


I'd suggest documenting what these mean above in a longer docstring

bmagyar · 2024-12-23T21:15:15Z

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

+  std::vector<std::string> command_ios_open, command_ios_close, set_before_command_open, set_after_command_open, reconfigure_command;
+  std::vector<double> command_ios_open_values, command_ios_close_values, set_before_command_open_values, set_after_command_open_values, reconfigure_command_values;
+  std::vector<std::string> state_ios_open, state_ios_close, set_before_command_close, set_after_command_close;
+  std::vector<double> state_ios_open_values, state_ios_close_values, set_before_command_close_values, set_after_command_close_values, set_after_command_open_values_original_;


one variable per line please. I know it will get long...

bmagyar · 2024-12-23T21:20:15Z

io_gripper_controller/include/io_gripper_controller/visibility_control.h

+// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//
+// Source of this file are templates in
+// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
+//
+
+#ifndef GRIPPER_IO_CONTROLLER__VISIBILITY_CONTROL_H_
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_EXPORT __attribute__((dllexport))
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_IMPORT __attribute__((dllimport))
+#else
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_EXPORT __declspec(dllexport)
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_IMPORT __declspec(dllimport)
+#endif
+#ifdef GRIPPER_IO_CONTROLLER__VISIBILITY_BUILDING_DLL
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC GRIPPER_IO_CONTROLLER__VISIBILITY_EXPORT
+#else
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC GRIPPER_IO_CONTROLLER__VISIBILITY_IMPORT
+#endif
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC_TYPE GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_LOCAL
+#else
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_EXPORT __attribute__((visibility("default")))
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_IMPORT
+#if __GNUC__ >= 4
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC __attribute__((visibility("default")))
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
+#else
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_LOCAL
+#endif
+#define GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC_TYPE
+#endif
+
+#endif  // GRIPPER_IO_CONTROLLER__VISIBILITY_CONTROL_H_


let's not add this or any visibility macros in general here please.

#1053
S1 from this list is the preferred solution which we'll implement in the rest of the controllers too

sachinkum0009 added 2 commits December 21, 2024 18:57

io gripper controller added which provides functionality to control g…

3f6a373

…ripper using ios

Merge branch 'ros-controls:master' into io_gripper_controller

f5163ed

github-actions bot requested review from ARK3r, christophfroehlich, harderthan, mhubii, Raivias, saikishor and VX792 December 21, 2024 18:17

sachinkum0009 added 2 commits December 23, 2024 15:29

cleaned the code to impove the readabiligy and consistency

353b42a

using result from set_value

2a5fd5e

- minor code clean

bmagyar reviewed Dec 23, 2024

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Adding Io gripper controller #1439

Adding Io gripper controller #1439

sachinkum0009 commented Dec 21, 2024 •

edited

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sachinkum0009 commented Dec 21, 2024

bmagyar Dec 23, 2024

bmagyar Dec 23, 2024

bmagyar Dec 23, 2024

bmagyar Dec 23, 2024

bmagyar Dec 23, 2024

bmagyar Dec 23, 2024

		@@ -0,0 +1,234 @@
		// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)

	// Source of this file are templates in
	// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
	//

Adding Io gripper controller #1439

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Adding Io gripper controller #1439

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sachinkum0009 commented Dec 21, 2024 • edited Loading

Features

Interfaces

Published Topics

sachinkum0009 commented Dec 21, 2024

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sachinkum0009 commented Dec 21, 2024 •

edited

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