Adding Io gripper controller #1439

sachinkum0009 · 2024-12-21T18:17:20Z

This Pull Request introduces the IO Gripper Controller, an implementation for controlling a gripper using IOs. The controller supports functionalities such as open, close, and reconfigure, which can be triggered either through an Action Server or a Service Server. Additionally, the controller publishes the gripper’s state via joint_states and provides dynamic_interfaces to expose all command and state interfaces.

Features

Action and Service Integration: Offers flexible control of gripper operations through action or service calls.
State Publishing: Continuously publishes the gripper's joint states and dynamic interface values for real-time monitoring.

Interfaces

Published Topics

joint_states [sensor_msgs::msg::JointState]:
- Publishes the state of the gripper joint and its configuration joint.
dynamic_interfaces [control_msgs::msg::DynamicInterfaceValues]:
- Publishes all command and state interfaces related to the gripper's IOs and sensors.

This addition enables better modular control of robotic grippers, paving the way for seamless integration in complex robotic systems.

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
Give your PR a descriptive title. Add a short summary, if required.
Make sure the pipeline is green.
Don’t be afraid to request reviews from maintainers.
New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

Fork the repository.
Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
Commit to your fork using clear commit messages.
Send a pull request, answering any default questions in the pull request interface.
Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

…ripper using ios

sachinkum0009 · 2024-12-21T18:40:46Z

This PR depends on this PR

- minor code clean

bmagyar · 2024-12-23T21:12:40Z

io_gripper_controller/README.md

+# 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.
+


this should go into the doc folder in the rst format. For an example please check the joint_trajectory_controller.

Please also write docs extensively about the internal state machine and also internal functionalities and external interface. As template, use the docs from another controller and adjust the content.

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

io_gripper_controller/include/io_gripper_controller/visibility_control.h

…_control.h

destogl

First set of comments. The second one comes tomorrow.

io_gripper_controller/CMakeLists.txt

destogl · 2025-01-02T11:37:52Z

io_gripper_controller/README.md

+# 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.
+


Please also write docs extensively about the internal state machine and also internal functionalities and external interface. As template, use the docs from another controller and adjust the content.

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

io_gripper_controller/io_gripper_controller.xml

io_gripper_controller/package.xml

- removed the template from license - added one variable per line - documented the enums - updated the doc folder as per `joint_trajectory_controller`

Co-authored-by: Dr. Denis <[email protected]>

io_gripper_controller/src/io_gripper_controller.cpp

Co-authored-by: Dr. Denis <[email protected]>

io_gripper_controller/src/io_gripper_controller.cpp

destogl · 2025-01-16T10:54:19Z

io_gripper_controller/src/io_gripper_controller.cpp

+      "~/gripper_close", close_service_callback, rmw_qos_profile_services_hist_keep_all,
+      close_service_callback_group_);


Suggested change

"~/gripper_close", close_service_callback, rmw_qos_profile_services_hist_keep_all,

close_service_callback_group_);

"~/gripper_close", close_service_callback, qos_services, close_service_callback_group_);

io_gripper_controller/src/io_gripper_controller.cpp

io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

io_gripper_controller/src/io_gripper_controller.cpp

destogl · 2025-01-16T12:44:02Z

io_gripper_controller/src/io_gripper_controller.cpp

+  }
+}
+
+void IOGripperController::handle_reconfigure_state_transition(const reconfigure_state_type & state)


Proposal here. Can we do this general check only when activating the controller, i.e., on_activate because later when we're switching states we know already which states do we expect, and then we check only those.

The main idea is to avoid so many iterations in every control step is this is not even necessary.

Can we also please add tests with different initial states of the gripper? To make sure that we recognize it correctly.

io_gripper_controller/src/io_gripper_controller.cpp

destogl · 2025-01-16T13:51:34Z

io_gripper_controller/src/io_gripper_controller.cpp

+  }
+}
+
+void IOGripperController::handle_gripper_state_transition_open(const gripper_state_type & state)


I find generally this function somewhat inconsistent with the closing state checks. Can we unify this a bit. Especially the part when setting low and high states. I would except there more or less copy-paste code, or better yet calling subfunctions as we constantly do the same.

destogl · 2025-01-16T14:06:50Z

io_gripper_controller/src/io_gripper_controller.cpp

+  }
+}
+
+controller_interface::CallbackReturn IOGripperController::check_parameters()


Please update the tests according to these checks of the parameters I have changed below. We should be able to work with parameter size 0.

destogl · 2025-01-16T14:11:32Z

io_gripper_controller/src/io_gripper_controller.cpp

+      closed_state_values_ = params_.close.state.possible_closed_states_map.at(closed_state_name_);
+
+      for (const auto & high_val : closed_state_values_.set_after_command_high)
+      {
+        setResult = find_and_set_command(high_val, 1.0);
+        if (!setResult)
+        {
+          RCLCPP_ERROR(
+            get_node()->get_logger(), "Failed to set the command state for %s", high_val.c_str());
+        }
+      }
+
+      for (const auto & low_val : closed_state_values_.set_after_command_low)
+      {
+        setResult = find_and_set_command(low_val, 0.0);
+        if (!setResult)
+        {
+          RCLCPP_ERROR(
+            get_node()->get_logger(), "Failed to set the command state for %s", low_val.c_str());
+        }
+      }


This code has two parts that are 98% identical. This should go into a function. Also this should be updated for all before/after, or if even possible setting commands in both function. We can reduce at least 50 lines of code doing that.

sachinkum0009 added 2 commits December 21, 2024 18:57

io gripper controller added which provides functionality to control g…

3f6a373

…ripper using ios

Merge branch 'ros-controls:master' into io_gripper_controller

f5163ed

github-actions bot requested review from ARK3r, christophfroehlich, harderthan, mhubii, Raivias, saikishor and VX792 December 21, 2024 18:17

sachinkum0009 added 2 commits December 23, 2024 15:29

cleaned the code to impove the readabiligy and consistency

353b42a

using result from set_value

2a5fd5e

- minor code clean

bmagyar reviewed Dec 23, 2024

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destogl added 2 commits January 2, 2025 12:59

Delete io_gripper_controller/include/io_gripper_controller/visibility…

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…_control.h

Delete io_gripper_controller/doc/.gitkeep

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destogl requested changes Jan 2, 2025

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sachinkum0009 and others added 9 commits January 2, 2025 13:06

- removed visibility macros and used solution S1 for visibility macros

4640609

- removed the template from license - added one variable per line - documented the enums - updated the doc folder as per `joint_trajectory_controller`

Update io_gripper_controller/CMakeLists.txt

0ebb499

Co-authored-by: Dr. Denis <[email protected]>

Update io_gripper_controller/CMakeLists.txt

b13c507

Co-authored-by: Dr. Denis <[email protected]>

removed interface package deps

8571d6f

Co-authored-by: Dr. Denis <[email protected]>

removed license from xml

69c47ce

Co-authored-by: Dr. Denis <[email protected]>

deps changed alphabetically

f357e97

author and maintainer list updated

8acbec5

doc strings with descript of inputs and outputs updated

099337c

pkg deps aranged alphabatically

d4facba

sachinkum0009 and others added 4 commits January 10, 2025 00:32

copyright update

e40f164

Co-authored-by: Dr. Denis <[email protected]>

sort headers alphabatically

3de5224

Co-authored-by: Dr. Denis <[email protected]>

sort headers alphabatically and remove find_config state

7d6cd6f

remove set_command state asset

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destogl reviewed Jan 14, 2025

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copyright update

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not_empty validation added

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not_empty validation added

6034aeb

Co-authored-by: Dr. Denis <[email protected]>

removed for merge upstream

2eb73a2

Co-authored-by: Dr. Denis <[email protected]>

license update

e82f6a6

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removed unused code

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