Merge pull request ros-industrial-attic#143 from christian-rauch/unified_msg_3f

replace control msgs with robotiq_3f_gripper_articulated_msgs

Author: jproberge

robotiq_3f_gripper_articulated_msgs/msg/Robotiq3FGripperRobotOutput.msg

@@ -24,6 +24,12 @@ uint8 rGTO
 
 uint8 rATR
 
+# rGLV: Glove mode
+# 0x0 - Glove mode off
+# 0x1 - Glove mode on
+
+uint8 rGLV
+
 # rICF: Individual Control of Fingers mode. Each finger receives its own command
 # unless the gripper is in the Scissor Grasping Mode and the Independent Control
 # of Scissor (rICS) is not activated.

robotiq_3f_gripper_control/CMakeLists.txt

@@ -6,26 +6,18 @@ find_package(catkin REQUIRED COMPONENTS
   diagnostic_updater
   dynamic_reconfigure
   hardware_interface
-  message_generation
   robotiq_ethercat
   roscpp
   rospy
   socketcan_interface
   std_srvs
+  robotiq_3f_gripper_articulated_msgs
 )
 
 find_package(PkgConfig)
 
-add_message_files(
-  FILES
-  Robotiq3FGripper_robot_input.msg
-  Robotiq3FGripper_robot_output.msg
-)
-
 catkin_python_setup()
 
-generate_messages()
-
 generate_dynamic_reconfigure_options(
   cfg/Robotiq3FGripper.cfg
 )
@@ -37,12 +29,12 @@ catkin_package(
         diagnostic_updater
         dynamic_reconfigure
         hardware_interface
-        message_runtime
         robotiq_ethercat
         roscpp
         rospy
         socketcan_interface
         std_srvs
+        robotiq_3f_gripper_articulated_msgs
 )
 
 include_directories(
@@ -61,7 +53,6 @@ target_link_libraries(${PROJECT_NAME}
 )
 add_dependencies(${PROJECT_NAME}
   ${PROJECT_NAME}_gencfg
-  ${PROJECT_NAME}_generate_messages_cpp
   ${catkin_EXPORTED_TARGETS}
 )
 

robotiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_client_base.h

@@ -26,17 +26,17 @@
 #define ROBOTIQ_3F_GRIPPER_CLIENT_BASE_H
 
 #include <ros/ros.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_output.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_input.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
 
 namespace robotiq_3f_gripper_control
 {
 
 class Robotiq3FGripperClientBase
 {
 public:
-    typedef robotiq_3f_gripper_control::Robotiq3FGripper_robot_output GripperOutput;
-    typedef robotiq_3f_gripper_control::Robotiq3FGripper_robot_input GripperInput;
+    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput GripperOutput;
+    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput GripperInput;
 
     virtual void init(ros::NodeHandle nh) {}
 

robotiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_ros.h

@@ -27,8 +27,8 @@
 
 #include <ros/ros.h>
 #include <std_srvs/Trigger.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_input.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_output.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
 #include <robotiq_3f_gripper_control/robotiq_3f_gripper_api.h>
 #include <dynamic_reconfigure/server.h>
 #include <robotiq_3f_gripper_control/Robotiq3FGripperConfig.h>
@@ -52,7 +52,7 @@ class Robotiq3FGripperROS
 
     void handleReconfigure(robotiq_3f_gripper_control::Robotiq3FGripperConfig &config, uint32_t level=0);
 
-    void handleRawCmd(const robotiq_3f_gripper_control::Robotiq3FGripper_robot_output::ConstPtr &msg);
+    void handleRawCmd(const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &msg);
 
     void updateConfig(const robotiq_3f_gripper_control::Robotiq3FGripperConfig &config);
     void getCurrentConfig(robotiq_3f_gripper_control::Robotiq3FGripperConfig &config);
@@ -81,7 +81,7 @@ class Robotiq3FGripperROS
     boost::recursive_mutex reconfigure_mutex_;
     robotiq_3f_gripper_control::Robotiq3FGripperConfig config_;
 
-    robotiq_3f_gripper_control::Robotiq3FGripper_robot_input input_status_msg_;
+    robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput input_status_msg_;
 
 };
 } //end namespace robotiq_3f_gripper_control

robotiq_3f_gripper_control/msg/Robotiq3FGripper_robot_input.msg

@@ -42,24 +42,27 @@
 This serves as an example for publishing messages on the 'Robotiq3FGripperRobotOutput' topic using the 'Robotiq3FGripper_robot_output' msg type for sending commands to a 3F gripper gripper. In this example, only the simple control mode is implemented. For using the advanced control mode, please refer to the Robotiq support website (support.robotiq.com).
 """
 
-import roslib; roslib.load_manifest('robotiq_3f_gripper_control')
+from __future__ import print_function
+
+import roslib;
+
+roslib.load_manifest('robotiq_3f_gripper_control')
 import rospy
-from robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_output  as outputMsg
-from time import sleep
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput
 
 
 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.Robotiq3FGripper_robot_output();
+        command = Robotiq3FGripperRobotOutput();
         command.rACT = 1
         command.rGTO = 1
         command.rSPA = 255
         command.rFRA = 150
 
     if char == 'r':
-        command = outputMsg.Robotiq3FGripper_robot_output();
+        command = Robotiq3FGripperRobotOutput();
         command.rACT = 0
 
     if char == 'c':
@@ -70,79 +73,78 @@ def genCommand(char, command):
 
     if char == 'b':
         command.rMOD = 0
-        
+
     if char == 'p':
         command.rMOD = 1
-        
+
     if char == 'w':
         command.rMOD = 2
-        
+
     if char == 's':
         command.rMOD = 3
 
-    #If the command entered is a int, assign this value to rPRA
-    try: 
+    # If the command entered is a int, assign this value to rPRA
+    try:
         command.rPRA = int(char)
         if command.rPRA > 255:
             command.rPRA = 255
         if command.rPRA < 0:
             command.rPRA = 0
     except ValueError:
-        pass                    
-        
+        pass
+
     if char == 'f':
         command.rSPA += 25
         if command.rSPA > 255:
             command.rSPA = 255
-            
+
     if char == 'l':
         command.rSPA -= 25
         if command.rSPA < 0:
             command.rSPA = 0
 
-            
     if char == 'i':
         command.rFRA += 25
         if command.rFRA > 255:
             command.rFRA = 255
-            
+
     if char == 'd':
         command.rFRA -= 25
         if command.rFRA < 0:
             command.rFRA = 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 3F gripper Controller\n-----\nCurrent command:'
-    currentCommand += ' rACT = '  + str(command.rACT)
+    currentCommand = 'Simple 3F gripper Controller\n-----\nCurrent command:'
+    currentCommand += ' rACT = ' + str(command.rACT)
     currentCommand += ', rMOD = ' + str(command.rMOD)
     currentCommand += ', rGTO = ' + str(command.rGTO)
     currentCommand += ', rATR = ' + str(command.rATR)
-##    currentCommand += ', rGLV = ' + str(command.rGLV)
-##    currentCommand += ', rICF = ' + str(command.rICF)
-##    currentCommand += ', rICS = ' + str(command.rICS)
+    ##    currentCommand += ', rGLV = ' + str(command.rGLV)
+    ##    currentCommand += ', rICF = ' + str(command.rICF)
+    ##    currentCommand += ', rICS = ' + str(command.rICS)
     currentCommand += ', rPRA = ' + str(command.rPRA)
     currentCommand += ', rSPA = ' + str(command.rSPA)
     currentCommand += ', rFRA = ' + str(command.rFRA)
 
-    #We only show the simple control mode
-##    currentCommand += ', rPRB = ' + str(command.rPRB)
-##    currentCommand += ', rSPB = ' + str(command.rSPB)
-##    currentCommand += ', rFRB = ' + str(command.rFRB)
-##    currentCommand += ', rPRC = ' + str(command.rPRC)
-##    currentCommand += ', rSPC = ' + str(command.rSPC)
-##    currentCommand += ', rFRC = ' + str(command.rFRC)
-##    currentCommand += ', rPRS = ' + str(command.rPRS)
-##    currentCommand += ', rSPS = ' + str(command.rSPS)
-##    currentCommand += ', rFRS = ' + str(command.rFRS)
+    # We only show the simple control mode
+    ##    currentCommand += ', rPRB = ' + str(command.rPRB)
+    ##    currentCommand += ', rSPB = ' + str(command.rSPB)
+    ##    currentCommand += ', rFRB = ' + str(command.rFRB)
+    ##    currentCommand += ', rPRC = ' + str(command.rPRC)
+    ##    currentCommand += ', rSPC = ' + str(command.rSPC)
+    ##    currentCommand += ', rFRC = ' + str(command.rFRC)
+    ##    currentCommand += ', rPRS = ' + str(command.rPRS)
+    ##    currentCommand += ', rSPS = ' + str(command.rSPS)
+    ##    currentCommand += ', rFRS = ' + str(command.rFRS)
 
-    print currentCommand
+    print(currentCommand)
 
-    strAskForCommand  = '-----\nAvailable commands\n\n'
+    strAskForCommand = '-----\nAvailable commands\n\n'
     strAskForCommand += 'r: Reset\n'
     strAskForCommand += 'a: Activate\n'
     strAskForCommand += 'c: Close\n'
@@ -156,28 +158,28 @@ def askForCommand(command):
     strAskForCommand += 'l: Slower\n'
     strAskForCommand += 'i: Increase force\n'
     strAskForCommand += 'd: Decrease force\n'
-    
+
     strAskForCommand += '-->'
 
     return raw_input(strAskForCommand)
 
+
 def publisher():
     """Main loop which requests new commands and publish them on the Robotiq3FGripperRobotOutput topic."""
 
     rospy.init_node('Robotiq3FGripperSimpleController')
-    
-    pub = rospy.Publisher('Robotiq3FGripperRobotOutput', outputMsg.Robotiq3FGripper_robot_output)
 
-    command = outputMsg.Robotiq3FGripper_robot_output();
+    pub = rospy.Publisher('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput)
+
+    command = Robotiq3FGripperRobotOutput();
 
     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()