Noetic modifications

robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #
@@ -51,7 +51,7 @@
 from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output as outputMsg
 
 def mainLoop(device):
-    
+
     #Gripper is a 2F with a TCP connection
     gripper = robotiq_2f_gripper_control.baseRobotiq2FGripper.robotiqbaseRobotiq2FGripper()
     gripper.client = robotiq_modbus_rtu.comModbusRtu.communication()
@@ -66,14 +66,14 @@ def mainLoop(device):
 
     #The Gripper command is received from the topic named 'Robotiq2FGripperRobotOutput'
     rospy.Subscriber('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, gripper.refreshCommand)
-    
+
 
     #We loop
     while not rospy.is_shutdown():
 
       #Get and publish the Gripper status
       status = gripper.getStatus()
-      pub.publish(status)     
+      pub.publish(status)
 
       #Wait a little
       #rospy.sleep(0.05)
@@ -83,7 +83,7 @@ def mainLoop(device):
 
       #Wait a little
       #rospy.sleep(0.05)
-            
+
 if __name__ == '__main__':
     try:
         mainLoop(sys.argv[1])

robotiq_2f_gripper_control/nodes/Robotiq2FGripperSimpleController.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #
@@ -41,15 +41,21 @@
 This serves as an example for publishing messages on the 'Robotiq2FGripperRobotOutput' topic using the 'Robotiq2FGripper_robot_output' msg type for sending commands to a 2F gripper.
 """
 
+from __future__ import print_function
+
 import roslib; roslib.load_manifest('robotiq_2f_gripper_control')
 import rospy
 from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output  as outputMsg
 from time import sleep
 
+try:
+    input = raw_input
+except NameError:
+    pass
 
 def genCommand(char, command):
-    """Update the command according to the character entered by the user."""    
-        
+    """Update the command according to the character entered by the user."""
+
     if char == 'a':
         command = outputMsg.Robotiq2FGripper_robot_output();
         command.rACT = 1
@@ -65,44 +71,44 @@ def genCommand(char, command):
         command.rPR = 255
 
     if char == 'o':
-        command.rPR = 0   
+        command.rPR = 0
 
     #If the command entered is a int, assign this value to rPRA
-    try: 
+    try:
         command.rPR = int(char)
         if command.rPR > 255:
             command.rPR = 255
         if command.rPR < 0:
             command.rPR = 0
     except ValueError:
-        pass                    
-        
+        pass
+
     if char == 'f':
         command.rSP += 25
         if command.rSP > 255:
             command.rSP = 255
-            
+
     if char == 'l':
         command.rSP -= 25
         if command.rSP < 0:
             command.rSP = 0
 
-            
+
     if char == 'i':
         command.rFR += 25
         if command.rFR > 255:
             command.rFR = 255
-            
+
     if char == 'd':
         command.rFR -= 25
         if command.rFR < 0:
             command.rFR = 0
 
     return command
-        
+
 
 def askForCommand(command):
-    """Ask the user for a command to send to the gripper."""    
+    """Ask the user for a command to send to the gripper."""
 
     currentCommand  = 'Simple 2F Gripper Controller\n-----\nCurrent command:'
     currentCommand += '  rACT = '  + str(command.rACT)
@@ -113,7 +119,7 @@ def askForCommand(command):
     currentCommand += ', rFR = '   + str(command.rFR )
 
 
-    print currentCommand
+    print(currentCommand)
 
     strAskForCommand  = '-----\nAvailable commands\n\n'
     strAskForCommand += 'r: Reset\n'
@@ -125,27 +131,27 @@ def askForCommand(command):
     strAskForCommand += 'l: Slower\n'
     strAskForCommand += 'i: Increase force\n'
     strAskForCommand += 'd: Decrease force\n'
-    
+
     strAskForCommand += '-->'
 
-    return raw_input(strAskForCommand)
+    return input(strAskForCommand)
 
 def publisher():
     """Main loop which requests new commands and publish them on the Robotiq2FGripperRobotOutput topic."""
     rospy.init_node('Robotiq2FGripperSimpleController')
-    
+
     pub = rospy.Publisher('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output)
 
     command = outputMsg.Robotiq2FGripper_robot_output();
 
     while not rospy.is_shutdown():
 
-        command = genCommand(askForCommand(command), command)            
-        
+        command = genCommand(askForCommand(command), command)
+
         pub.publish(command)
 
         rospy.sleep(0.1)
-                        
+
 
 if __name__ == '__main__':
     publisher()

robotiq_2f_gripper_control/nodes/Robotiq2FGripperStatusListener.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #
@@ -41,6 +41,8 @@
 This serves as an example for receiving messages from the 'Robotiq2FGripperRobotInput' topic using the 'Robotiq2FGripper_robot_input' msg type and interpreting the corresponding status of the 2F gripper.
 """
 
+from __future__ import print_function
+
 import roslib; roslib.load_manifest('robotiq_2f_gripper_control')
 import rospy
 from std_msgs.msg import String
@@ -49,7 +51,7 @@
 def printStatus(status):
     """Print the status string generated by the statusInterpreter function."""
 
-    print statusInterpreter(status)
+    print(statusInterpreter(status))
 
 def Robotiq2FGripperStatusListener():
     """Initialize the node and subscribe to the Robotiq2FGripperRobotInput topic."""
@@ -98,7 +100,7 @@ def statusInterpreter(status):
         output += 'Fingers have stopped due to a contact while closing \n'
     if(status.gOBJ == 3):
         output += 'Fingers are at requested position\n'
- 
+
     #gFLT
     output += 'gFLT = ' + str(status.gFLT) + ': '
     if(status.gFLT == 0x00):
@@ -108,7 +110,7 @@ def statusInterpreter(status):
     if(status.gFLT == 0x07):
         output += 'Priority Fault: The activation bit must be set prior to action\n'
     if(status.gFLT == 0x09):
-        output += 'Minor Fault: The communication chip is not ready (may be booting)\n'   
+        output += 'Minor Fault: The communication chip is not ready (may be booting)\n'
     if(status.gFLT == 0x0B):
         output += 'Minor Fault: Automatic release in progress\n'
     if(status.gFLT == 0x0E):
@@ -126,9 +128,9 @@ def statusInterpreter(status):
 
     #gCU
     output += 'gCU = ' + str(status.gCU) + ': '
-    output += 'Current of Fingers: ' + str(status.gCU * 10) + ' mA\n'   
+    output += 'Current of Fingers: ' + str(status.gCU * 10) + ' mA\n'
 
     return output
-    
+
 if __name__ == '__main__':
     Robotiq2FGripperStatusListener()

robotiq_2f_gripper_control/nodes/Robotiq2FGripperTcpNode.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #
@@ -51,7 +51,7 @@
 from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output as outputMsg
 
 def mainLoop(address):
-    
+
     #Gripper is a 2F with a TCP connection
     gripper = robotiq_2f_gripper_control.baseRobotiq2FGripper.robotiqbaseRobotiq2FGripper()
     gripper.client = robotiq_modbus_tcp.comModbusTcp.communication()
@@ -66,14 +66,14 @@ def mainLoop(address):
 
     #The Gripper command is received from the topic named 'Robotiq2FGripperRobotOutput'
     rospy.Subscriber('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, gripper.refreshCommand)
-    
+
 
     #We loop
     while not rospy.is_shutdown():
 
       #Get and publish the Gripper status
       status = gripper.getStatus()
-      pub.publish(status)     
+      pub.publish(status)
 
       #Wait a little
       rospy.sleep(0.05)
@@ -83,7 +83,7 @@ def mainLoop(address):
 
       #Wait a little
       rospy.sleep(0.05)
-            
+
 if __name__ == '__main__':
     try:
         #TODO: Add verification that the argument is an IP address

robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/baseRobotiq2FGripper.py

@@ -54,34 +54,34 @@ def __init__(self):
 
     def verifyCommand(self, command):
         """Function to verify that the value of each variable satisfy its limits."""
-    	   	
-   	#Verify that each variable is in its correct range
-   	command.rACT = max(0, command.rACT)
-   	command.rACT = min(1, command.rACT)
-   	
-   	command.rGTO = max(0, command.rGTO)
-   	command.rGTO = min(1, command.rGTO)
-
-   	command.rATR = max(0, command.rATR)
-   	command.rATR = min(1, command.rATR)
-   	
-   	command.rPR  = max(0,   command.rPR)
-   	command.rPR  = min(255, command.rPR)   	
-
-   	command.rSP  = max(0,   command.rSP)
-   	command.rSP  = min(255, command.rSP)   	
-
-   	command.rFR  = max(0,   command.rFR)
-   	command.rFR  = min(255, command.rFR) 
-   	
-   	#Return the modified command
-   	return command
+
+        #Verify that each variable is in its correct range
+        command.rACT = max(0, command.rACT)
+        command.rACT = min(1, command.rACT)
+
+        command.rGTO = max(0, command.rGTO)
+        command.rGTO = min(1, command.rGTO)
+
+        command.rATR = max(0, command.rATR)
+        command.rATR = min(1, command.rATR)
+
+        command.rPR  = max(0,   command.rPR)
+        command.rPR  = min(255, command.rPR)
+
+        command.rSP  = max(0,   command.rSP)
+        command.rSP  = min(255, command.rSP)
+
+        command.rFR  = max(0,   command.rFR)
+        command.rFR  = min(255, command.rFR)
+
+        #Return the modified command
+        return command
 
     def refreshCommand(self, command):
         """Function to update the command which will be sent during the next sendCommand() call."""
-    
-	#Limit the value of each variable
-    	command = self.verifyCommand(command)
+
+        #Limit the value of each variable
+        command = self.verifyCommand(command)
 
         #Initiate command as an empty list
         self.message = []
@@ -93,11 +93,11 @@ def refreshCommand(self, command):
         self.message.append(0)
         self.message.append(command.rPR)
         self.message.append(command.rSP)
-        self.message.append(command.rFR)     
+        self.message.append(command.rFR)
 
     def sendCommand(self):
-        """Send the command to the Gripper."""    
-        
+        """Send the command to the Gripper."""
+
         self.client.sendCommand(self.message)
 
     def getStatus(self):
@@ -110,14 +110,14 @@ def getStatus(self):
         message = inputMsg.Robotiq2FGripper_robot_input()
 
         #Assign the values to their respective variables
-        message.gACT = (status[0] >> 0) & 0x01;        
+        message.gACT = (status[0] >> 0) & 0x01;
         message.gGTO = (status[0] >> 3) & 0x01;
         message.gSTA = (status[0] >> 4) & 0x03;
         message.gOBJ = (status[0] >> 6) & 0x03;
         message.gFLT =  status[2]
         message.gPR  =  status[3]
         message.gPO  =  status[4]
-        message.gCU  =  status[5]       
+        message.gCU  =  status[5]
 
         return message
-        
+

robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/robotiq_2f_gripper_ctrl.py

@@ -1,4 +1,6 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
+
+from __future__ import print_function
 
 import numpy as np
 
@@ -166,12 +168,12 @@ def main():
     if gripper.is_reset():
         gripper.reset()
         gripper.activate()
-    print gripper.close(block=True)
+    print(gripper.close(block=True))
     while not rospy.is_shutdown():
-        print gripper.open(block=False)
+        print(gripper.open(block=False))
         rospy.sleep(0.11)
         gripper.stop()
-        print gripper.close(block=False)
+        print(gripper.close(block=False))
         rospy.sleep(0.1)
         gripper.stop()
 

robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_3f_gripper_articulated_gazebo_plugins)
-add_compile_options(-std=c++11)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(catkin REQUIRED COMPONENTS std_msgs gazebo_plugins actionlib tf image_transport control_msgs trajectory_msgs geometry_msgs sensor_msgs roscpp gazebo_ros robotiq_3f_gripper_articulated_msgs)