From 1b36b4ff2e872c3215dae2295b724bacdaa30a65 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Thu, 1 Feb 2024 16:16:05 -0700 Subject: [PATCH 1/5] add action for new gripper controller Signed-off-by: Paul Gesel --- control_msgs/CMakeLists.txt | 1 + control_msgs/action/AntipodalGripperCommand.action | 14 ++++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 control_msgs/action/AntipodalGripperCommand.action diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index fa2ed67..4c089cf 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -39,6 +39,7 @@ set(msg_files ) set(action_files + action/AntipodalGripperCommand.action action/FollowJointTrajectory.action action/GripperCommand.action action/JointTrajectory.action diff --git a/control_msgs/action/AntipodalGripperCommand.action b/control_msgs/action/AntipodalGripperCommand.action new file mode 100644 index 0000000..31eb83c --- /dev/null +++ b/control_msgs/action/AntipodalGripperCommand.action @@ -0,0 +1,14 @@ +# Antipodal grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. +sensor_msgs/JointState command # The velocity and effort fields are optional and not used if empty. +--- +sensor_msgs/JointState state # The current gripper state. +# position of each joint (radians or meters) +# optional: velocity of each joint (radians or meters / second) +# optional: effort of each joint (Newtons or Newton-meters) +--- +sensor_msgs/JointState state # The current gripper state. +# position of each joint (radians or meters) +# optional: velocity of each joint (radians or meters / second) +# optional: effort of each joint (Newtons or Newton-meters) +bool stalled # True iff the gripper is exerting max effort and not moving +bool reached_goal # True iff the gripper position has reached the commanded setpoint From e8092b1e37fea266fffe1957994eaa3cfff67cc8 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Wed, 27 Mar 2024 18:50:22 +0000 Subject: [PATCH 2/5] Apply suggestions from code review Co-authored-by: Marq Rasmussen --- control_msgs/action/AntipodalGripperCommand.action | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/control_msgs/action/AntipodalGripperCommand.action b/control_msgs/action/AntipodalGripperCommand.action index 31eb83c..a61c68d 100644 --- a/control_msgs/action/AntipodalGripperCommand.action +++ b/control_msgs/action/AntipodalGripperCommand.action @@ -1,5 +1,9 @@ # Antipodal grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. -sensor_msgs/JointState command # The velocity and effort fields are optional and not used if empty. +sensor_msgs/JointState command +# name: the name(s) of the joint this command is requesting +# position: desired position of each gripper joint (radians or meters) +# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second) +# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters) --- sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) From c17ee2f1d8bdc4fcfd887f25dddea8f624e24a37 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Tue, 2 Apr 2024 13:50:46 -0600 Subject: [PATCH 3/5] fix result and feedback defintions Signed-off-by: Paul Gesel --- control_msgs/action/AntipodalGripperCommand.action | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control_msgs/action/AntipodalGripperCommand.action b/control_msgs/action/AntipodalGripperCommand.action index a61c68d..d3718d7 100644 --- a/control_msgs/action/AntipodalGripperCommand.action +++ b/control_msgs/action/AntipodalGripperCommand.action @@ -9,10 +9,10 @@ sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) # optional: velocity of each joint (radians or meters / second) # optional: effort of each joint (Newtons or Newton-meters) +bool stalled # True iff the gripper is exerting max effort and not moving +bool reached_goal # True iff the gripper position has reached the commanded setpoint --- sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) # optional: velocity of each joint (radians or meters / second) # optional: effort of each joint (Newtons or Newton-meters) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint From a022445d5e4c0f3a67989601ef1db960cf03802d Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Tue, 2 Apr 2024 16:43:59 -0600 Subject: [PATCH 4/5] rename controller message Signed-off-by: Paul Gesel --- control_msgs/CMakeLists.txt | 2 +- ...podalGripperCommand.action => ParallelGripperCommand.action} | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) rename control_msgs/action/{AntipodalGripperCommand.action => ParallelGripperCommand.action} (90%) diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt index 4c089cf..9ff564b 100644 --- a/control_msgs/CMakeLists.txt +++ b/control_msgs/CMakeLists.txt @@ -39,7 +39,7 @@ set(msg_files ) set(action_files - action/AntipodalGripperCommand.action + action/ParallelGripperCommand.action action/FollowJointTrajectory.action action/GripperCommand.action action/JointTrajectory.action diff --git a/control_msgs/action/AntipodalGripperCommand.action b/control_msgs/action/ParallelGripperCommand.action similarity index 90% rename from control_msgs/action/AntipodalGripperCommand.action rename to control_msgs/action/ParallelGripperCommand.action index d3718d7..2766aa1 100644 --- a/control_msgs/action/AntipodalGripperCommand.action +++ b/control_msgs/action/ParallelGripperCommand.action @@ -1,4 +1,4 @@ -# Antipodal grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. +# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. sensor_msgs/JointState command # name: the name(s) of the joint this command is requesting # position: desired position of each gripper joint (radians or meters) From c00ebd10704b333ce54f964480d9c616aa651ce1 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Fri, 5 Apr 2024 07:54:12 -0600 Subject: [PATCH 5/5] Update control_msgs/action/ParallelGripperCommand.action MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Christoph Fröhlich --- control_msgs/action/ParallelGripperCommand.action | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control_msgs/action/ParallelGripperCommand.action b/control_msgs/action/ParallelGripperCommand.action index 2766aa1..90405b9 100644 --- a/control_msgs/action/ParallelGripperCommand.action +++ b/control_msgs/action/ParallelGripperCommand.action @@ -9,8 +9,8 @@ sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters) # optional: velocity of each joint (radians or meters / second) # optional: effort of each joint (Newtons or Newton-meters) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint +bool stalled # True if the gripper is exerting max effort and not moving +bool reached_goal # True if the gripper position has reached the commanded setpoint --- sensor_msgs/JointState state # The current gripper state. # position of each joint (radians or meters)