17 #ifndef GRIPPER_CONTROLLERS__GRIPPER_ACTION_CONTROLLER_HPP_
18 #define GRIPPER_CONTROLLERS__GRIPPER_ACTION_CONTROLLER_HPP_
27 #include "rclcpp/rclcpp.hpp"
30 #include "control_msgs/action/gripper_command.hpp"
33 #include "rclcpp_action/create_server.hpp"
36 #include "controller_interface/controller_interface.hpp"
37 #include "gripper_controllers/visibility_control.hpp"
38 #include "hardware_interface/loaned_command_interface.hpp"
39 #include "hardware_interface/loaned_state_interface.hpp"
40 #include "realtime_tools/realtime_buffer.hpp"
41 #include "realtime_tools/realtime_server_goal_handle.hpp"
44 #include "gripper_controllers/hardware_interface_adapter.hpp"
47 #include "gripper_action_controller_parameters.hpp"
59 template <const
char * HardwareInterface>
79 GRIPPER_ACTION_CONTROLLER_PUBLIC
86 GRIPPER_ACTION_CONTROLLER_PUBLIC
89 GRIPPER_ACTION_CONTROLLER_PUBLIC
90 controller_interface::return_type
update(
91 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
93 GRIPPER_ACTION_CONTROLLER_PUBLIC
94 controller_interface::CallbackReturn
on_init()
override;
96 GRIPPER_ACTION_CONTROLLER_PUBLIC
97 controller_interface::CallbackReturn on_configure(
98 const rclcpp_lifecycle::State & previous_state)
override;
100 GRIPPER_ACTION_CONTROLLER_PUBLIC
101 controller_interface::CallbackReturn on_activate(
102 const rclcpp_lifecycle::State & previous_state)
override;
104 GRIPPER_ACTION_CONTROLLER_PUBLIC
105 controller_interface::CallbackReturn on_deactivate(
106 const rclcpp_lifecycle::State & previous_state)
override;
110 Commands command_struct_, command_struct_rt_;
113 using GripperCommandAction = control_msgs::action::GripperCommand;
114 using ActionServer = rclcpp_action::Server<GripperCommandAction>;
115 using ActionServerPtr = ActionServer::SharedPtr;
116 using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
119 using RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>;
124 bool update_hold_position_;
128 std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>
129 joint_command_interface_;
130 std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
131 joint_position_state_interface_;
132 std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>>
133 joint_velocity_state_interface_;
135 std::shared_ptr<ParamListener> param_listener_;
142 control_msgs::action::GripperCommand::Result::SharedPtr pre_alloc_result_;
144 rclcpp::Duration action_monitor_period_;
147 ActionServerPtr action_server_;
149 rclcpp::TimerBase::SharedPtr goal_handle_timer_;
151 rclcpp_action::GoalResponse goal_callback(
152 const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const GripperCommandAction::Goal> goal);
154 rclcpp_action::CancelResponse cancel_callback(
const std::shared_ptr<GoalHandle> goal_handle);
156 void accepted_callback(std::shared_ptr<GoalHandle> goal_handle);
158 void preempt_active_goal();
160 void set_hold_position();
169 const rclcpp::Time & time,
double error_position,
double current_position,
170 double current_velocity);
175 #include "gripper_controllers/gripper_action_controller_impl.hpp"
Helper class to simplify integrating the GripperActionController with different hardware interfaces.
Definition: hardware_interface_adapter.hpp:41
Definition: controller_interface.hpp:28
Controller for executing a gripper command action for simple single-dof grippers.
Definition: gripper_action_controller.hpp:61
std::string name_
Controller name.
Definition: gripper_action_controller.hpp:127
RealtimeGoalHandleBuffer rt_active_goal_
Container for the currently active action goal, if any.
Definition: gripper_action_controller.hpp:141
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init() override
Extending interface with initialization method which is individual for each controller.
Definition: gripper_action_controller_impl.hpp:41
HwIfaceAdapter hw_iface_adapter_
Adapts desired goal state to HW interface.
Definition: gripper_action_controller.hpp:138
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override
command_interface_configuration This controller requires the position and velocity state interfaces f...
Definition: gripper_action_controller_impl.hpp:338
double computed_command_
Computed command.
Definition: gripper_action_controller.hpp:163
bool verbose_
Hard coded verbose flag to help in debugging.
Definition: gripper_action_controller.hpp:126
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.
Definition: gripper_action_controller_impl.hpp:156
rclcpp::Time last_movement_time_
Store stall time.
Definition: gripper_action_controller.hpp:162
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override
command_interface_configuration This controller requires the position command interfaces for the cont...
Definition: gripper_action_controller_impl.hpp:329
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
Definition: gripper_action_controller_impl.hpp:63
Definition: gripper_action_controller.hpp:50
Configuring what command/state interfaces to claim.
Definition: controller_interface_base.hpp:58
Store position and max effort in struct to allow easier realtime buffer usage.
Definition: gripper_action_controller.hpp:68