Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.hpp>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

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Collaboration diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

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Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	command_interface_configuration This controller requires the position command interfaces for the controlled joints

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final

CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_reference_interfaces () final

CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final

CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)

CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()

virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &namespace_="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true))

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const

CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

Public Attributes
realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

Commands	command_struct_rt_

Protected Types
using	GripperCommandAction = control_msgs::action::GripperCommand

using	ActionServer = rclcpp_action::Server< GripperCommandAction >

using	ActionServerPtr = ActionServer::SharedPtr

using	GoalHandle = rclcpp_action::ServerGoalHandle< GripperCommandAction >

using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< control_msgs::action::GripperCommand >

using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >

using	RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >

using	HwIfaceAdapter = HardwareInterfaceAdapter< HardwareInterface >

Protected Member Functions
rclcpp_action::GoalResponse	goal_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const GripperCommandAction::Goal > goal)

rclcpp_action::CancelResponse	cancel_callback (const std::shared_ptr< GoalHandle > goal_handle)

void	accepted_callback (std::shared_ptr< GoalHandle > goal_handle)

void	preempt_active_goal ()

void	set_hold_position ()

void	check_for_success (const rclcpp::Time &time, double error_position, double current_position, double current_velocity)
	Check for success and publish appropriate result and feedback.

Protected Attributes
bool	update_hold_position_

bool	verbose_ = false
	Hard coded verbose flag to help in debugging.

std::string	name_
	Controller name.

std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_command_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_position_state_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_velocity_state_interface_

std::shared_ptr< ParamListener >	param_listener_

Params	params_

HwIfaceAdapter	hw_iface_adapter_
	Adapts desired goal state to HW interface.

RealtimeGoalHandleBuffer	rt_active_goal_
	Container for the currently active action goal, if any.

control_msgs::action::GripperCommand::Result::SharedPtr	pre_alloc_result_

rclcpp::Duration	action_monitor_period_

ActionServerPtr	action_server_

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

rclcpp::Time	last_movement_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME)
	Store stall time.

double	computed_command_
	Computed command.

Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

unsigned int	update_rate_ = 0

Detailed Description

template<const char * HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters

HardwareInterface Controller hardware interface. Currently hardware_interface::HW_IF_POSITION and hardware_interface::HW_IF_EFFORT are supported out-of-the-box.

Member Function Documentation

◆ command_interface_configuration()

template<const char * HardwareInterface>

controller_interface::InterfaceConfiguration gripper_action_controller::GripperActionController< HardwareInterface >::command_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position command interfaces for the controlled joints

Implements controller_interface::ControllerInterfaceBase.

◆ on_init()

template<const char * HardwareInterface>

controller_interface::CallbackReturn gripper_action_controller::GripperActionController< HardwareInterface >::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

◆ state_interface_configuration()

template<const char * HardwareInterface>

controller_interface::InterfaceConfiguration gripper_action_controller::GripperActionController< HardwareInterface >::state_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

Implements controller_interface::ControllerInterfaceBase.

◆ update()

template<const char * HardwareInterface>

controller_interface::return_type gripper_action_controller::GripperActionController< HardwareInterface >::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ControllerInterfaceBase.

The documentation for this class was generated from the following files:

ros2_controllers/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
ros2_controllers/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp

Classes

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ on_init()

◆ state_interface_configuration()

◆ update()