Adding Io gripper controller

io_gripper_controller/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(io_gripper_controller)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  sensor_msgs
+  controller_manager
+  ros2_control_test_assets
+  controller_interface
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  std_srvs
+  ament_cmake
+  generate_parameter_library
+  ament_cmake_gmock
+  std_msgs
+  control_msgs
+)
+
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+# Add io_gripper_controller library related compile commands
+generate_parameter_library(io_gripper_controller_parameters
+  src/io_gripper_controller.yaml
+)
+add_library(
+  io_gripper_controller
+  SHARED
+  src/io_gripper_controller.cpp
+)
+target_include_directories(io_gripper_controller PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(io_gripper_controller io_gripper_controller_parameters)
+ament_target_dependencies(io_gripper_controller ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(io_gripper_controller PRIVATE "io_gripper_controller_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(
+  controller_interface io_gripper_controller.xml)
+
+install(
+  TARGETS
+  io_gripper_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+
+  ament_add_gmock(test_load_io_gripper_controller test/test_load_io_gripper_controller.cpp)
+  target_include_directories(test_load_io_gripper_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_io_gripper_controller
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_io_gripper_controller test/test_io_gripper_controller.cpp test/test_io_gripper_controller_open.cpp test/test_io_gripper_controller_close.cpp test/test_io_gripper_controller_all_param_set.cpp test/test_io_gripper_controller_open_close_action.cpp test/test_io_gripper_controller_reconfigure.cpp test/test_io_gripper_controller_reconfigure_action.cpp)
+  target_include_directories(test_io_gripper_controller PRIVATE include)
+  target_link_libraries(test_io_gripper_controller io_gripper_controller)
+  ament_target_dependencies(
+    test_io_gripper_controller
+    controller_interface
+    hardware_interface
+  )
+
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+ament_export_libraries(
+  io_gripper_controller
+)
+
+ament_package()

io_gripper_controller/README.md

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+# 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.
+

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

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+// 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__GRIPPER_IO_CONTROLLER_HPP_
+#define GRIPPER_IO_CONTROLLER__GRIPPER_IO_CONTROLLER_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+#include <functional>
+#include <set>
+#include <atomic>
+
+#include "controller_interface/controller_interface.hpp"
+#include "io_gripper_controller_parameters.hpp"
+#include "io_gripper_controller/visibility_control.h"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_publisher.h"
+#include "std_srvs/srv/set_bool.hpp"
+#include "std_srvs/srv/trigger.hpp"
+
+#include <sensor_msgs/msg/joint_state.hpp>
+
+#include "control_msgs/srv/set_config.hpp"
+#include "control_msgs/msg/io_gripper_sensor.hpp"
+#include "control_msgs/msg/interface_value.hpp"
+#include "control_msgs/msg/dynamic_interface_values.hpp"
+#include "control_msgs/action/gripper.hpp"
+#include "control_msgs/action/set_gripper_config.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+namespace io_gripper_controller
+{
+
+enum class service_mode_type : std::uint8_t
+{
+  IDLE = 0,
+  OPEN = 1,
+  CLOSE = 2,
+};
+
+enum class gripper_state_type : std::uint8_t
+{
+  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,
+};
+
+enum class reconfigure_state_type : std::uint8_t
+{
+  IDLE = 0,
+  FIND_CONFIG = 1,
+  SET_COMMAND = 2,
+  CHECK_STATE = 3,
+};
+
+class IOGripperController : public controller_interface::ControllerInterface
+{
+public:
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  IOGripperController();
+  io_gripper_controller::Params params_;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_init() override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  GRIPPER_IO_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  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_;
+  std::string status_joint_name;
+  bool is_open;
+  std::unordered_map<std::string, double> command_if_ios_after_opening;
+  std::unordered_map<std::string, double> original_ios_after_opening;
+  std::unordered_map<std::string, double> command_if_ios_before_closing;
+  std::unordered_map<std::string, double> original_ios_before_closing;
+
+  std::unordered_set<std::string> command_if_ios, state_if_ios;
+
+  bool setResult;
+
+
+  using ControllerModeSrvType = std_srvs::srv::SetBool;
+  using OpenSrvType = std_srvs::srv::Trigger;
+  using ConfigSrvType = control_msgs::srv::SetConfig;
+  using ControllerStateMsg = sensor_msgs::msg::JointState;
+  using EventStateMsg = sensor_msgs::msg::JointState;
+  using ConfigJointMsg = sensor_msgs::msg::JointState;
+  using InterfaceMsg = control_msgs::msg::DynamicInterfaceValues;
+  using GripperAction = control_msgs::action::Gripper;
+  using GoalHandleGripper = rclcpp_action::ServerGoalHandle<GripperAction>;
+  using GripperConfigAction = control_msgs::action::SetGripperConfig;
+  using GoalHandleGripperConfig = rclcpp_action::ServerGoalHandle<GripperConfigAction>;
+
+protected:
+  std::shared_ptr<io_gripper_controller::ParamListener> param_listener_;
+
+  rclcpp::Service<OpenSrvType>::SharedPtr open_service_;
+  rclcpp::Service<OpenSrvType>::SharedPtr close_service_;
+  rclcpp::Service<ConfigSrvType>::SharedPtr configure_gripper_service_;
+
+  rclcpp_action::Server<GripperAction>::SharedPtr gripper_action_server_;
+  rclcpp_action::Server<GripperConfigAction>::SharedPtr gripper_config_action_server_;
+
+  realtime_tools::RealtimeBuffer<service_mode_type> service_buffer_;
+  realtime_tools::RealtimeBuffer<std::string> configure_gripper_buffer_;
+  realtime_tools::RealtimeBuffer<gripper_state_type> gripper_state_buffer_;
+  realtime_tools::RealtimeBuffer<reconfigure_state_type> reconfigure_state_buffer_;
+
+  using ControllerStatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>;
+  using EventPublisher = realtime_tools::RealtimePublisher<EventStateMsg>;
+
+  using ConfigPublisher = realtime_tools::RealtimePublisher<ConfigJointMsg>;
+  using InterfacePublisher = realtime_tools::RealtimePublisher<InterfaceMsg>;
+
+  rclcpp::Publisher<ControllerStateMsg>::SharedPtr g_j_s_publisher_;
+  std::unique_ptr<ControllerStatePublisher> gripper_joint_state_publisher_;
+
+  std::vector<double> joint_state_values_;
+
+  rclcpp::Publisher<InterfaceMsg>::SharedPtr if_publisher_;
+  std::unique_ptr<InterfacePublisher> interface_publisher_;
+
+
+  rclcpp::Publisher<EventStateMsg>::SharedPtr e_publisher_;
+  std::unique_ptr<EventPublisher> event_publisher_;
+
+  std::atomic<bool> reconfigureFlag_{false}, openFlag_{false}, closeFlag_{false};
+
+private:
+  bool find_and_set_command(const std::string & name, const double value);
+  bool find_and_get_state(const std::string & name, double& value);
+  bool find_and_get_command(const std::string & name, double& value);
+  void handle_gripper_state_transition_open(const gripper_state_type & state);
+  void handle_gripper_state_transition_close(const gripper_state_type & state);
+  void handle_reconfigure_state_transition(const reconfigure_state_type & state);
+  /// \brief Function to check the parameters
+  controller_interface::CallbackReturn check_parameters();
+  /// Preparing the command ios and states ios vars for the command/state interface configuraiton 
+  void prepare_command_and_state_ios();
+  controller_interface::CallbackReturn prepare_publishers_and_services();
+  void publish_gripper_joint_states();
+  void publish_dynamic_interface_values();
+  void publish_reconfigure_gripper_joint_states();
+  void check_gripper_and_reconfigure_state();
+
+  std::vector<std::string> configurations_list_;
+  std::vector<io_gripper_controller::Params::ConfigurationSetup::MapConfigurations> config_map_;
+  std::vector<io_gripper_controller::Params::SensorsInterfaces::MapGripperSpecificSensors> sensors_map_;
+  double state_value_;
+  std::string configuration_key_;
+  bool check_state_ios_;
+  std::string closed_state_name_;
+  io_gripper_controller::Params::Close::State::MapPossibleClosedStates closed_state_values_;
+  io_gripper_controller::Params::ConfigurationSetup::MapConfigurations conf_it_;
+  std::vector<std::string>::iterator config_index_;
+
+  rclcpp::CallbackGroup::SharedPtr open_service_callback_group_, close_service_callback_group_, reconfigure_service_callback_group_;
+
+  std::shared_ptr<control_msgs::action::Gripper_Feedback> gripper_feedback_;
+  std::shared_ptr<control_msgs::action::Gripper_Result> gripper_result_;
+  std::shared_ptr<control_msgs::action::SetGripperConfig_Feedback> gripper_config_feedback_;
+  std::shared_ptr<control_msgs::action::SetGripperConfig_Result> gripper_config_result_;
+
+  rclcpp_action::GoalResponse handle_goal(
+    const rclcpp_action::GoalUUID & uuid,
+    std::shared_ptr<const GripperAction::Goal> goal);
+
+  rclcpp_action::CancelResponse handle_cancel(
+    const std::shared_ptr<GoalHandleGripper> goal_handle);
+
+  void handle_accepted(const std::shared_ptr<GoalHandleGripper> goal_handle);
+  void execute(const std::shared_ptr<GoalHandleGripper> goal_handle);
+
+  rclcpp_action::GoalResponse config_handle_goal(
+    const rclcpp_action::GoalUUID & uuid,
+    std::shared_ptr<const GripperConfigAction::Goal> goal);
+
+
+  rclcpp_action::CancelResponse config_handle_cancel(
+    const std::shared_ptr<GoalHandleGripperConfig> goal_handle);
+
+  void config_handle_accepted(const std::shared_ptr<GoalHandleGripperConfig> goal_handle);
+  void config_execute(const std::shared_ptr<GoalHandleGripperConfig> goal_handle);
+};
+
+}  // namespace io_gripper_controller
+
+#endif  // GRIPPER_IO_CONTROLLER__GRIPPER_IO_CONTROLLER_HPP_

io_gripper_controller/io_gripper_controller.xml

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+<!--
+Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+
+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.
+-->
+
+<library path="io_gripper_controller">
+  <class name="io_gripper_controller/IOGripperController"
+         type="io_gripper_controller::IOGripperController" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    IOGripperController ros2_control controller used to control the gripper using IOs.
+  </description>
+  </class>
+</library>