From 0d652017cbeb7d51f8f77ecfd61a1c55709b2cf1 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 14 Dec 2017 07:42:16 +0000
Subject: [PATCH] Used the ros::this_node::getName() for the module namespace.
Added a launch file for the real robot. Modified the simulation launch file
to use the new launch file. Used the YAML configuration file.
---
launch/gripper_client.launch | 10 ++--------
launch/gripper_client_sim.launch | 23 +----------------------
src/gripper_client_alg_node.cpp | 12 +++---------
3 files changed, 6 insertions(+), 39 deletions(-)
diff --git a/launch/gripper_client.launch b/launch/gripper_client.launch
index 5468c07..9c84c15 100644
--- a/launch/gripper_client.launch
+++ b/launch/gripper_client.launch
@@ -8,15 +8,9 @@
<remap from="/tiago/gripper_client/gripper_module/gripper_trajectory"
to="/gripper_controller/follow_joint_trajectory"/>
<!--Services-->
- <remap from="/tiago/gripper_client/gripper_module/grasp"
+ <remap from="~/gripper_module/grasp"
to="/gripper_controller/grasp"/>
- <param name="~/gripper_module/rate_hz" value="10"/>
- <param name="~/gripper_module/action_max_retries" value="5"/>
- <param name="~/gripper_module/feedback_watchdog_time_s" value="20"/>
- <param name="~/gripper_module/enable_timeout" value="false"/>
- <param name="~/gripper_module/timeout_s" value="10"/>
- <param name="~/gripper_module/enabled" value="true"/>
-
+ <rosparam file="$(find tiago_modules)/config/gripper_module_default.yaml" command="load" ns="gripper_module" />
</node>
<!-- launch dynamic reconfigure -->
diff --git a/launch/gripper_client_sim.launch b/launch/gripper_client_sim.launch
index fed34d6..ffabd26 100644
--- a/launch/gripper_client_sim.launch
+++ b/launch/gripper_client_sim.launch
@@ -5,27 +5,6 @@
<arg name="robot" value="steel" />
</include>
- <!-- launch the action client node -->
- <node name="gripper_client"
- pkg="gripper_client"
- type="gripper_client"
- output="screen"
- ns="/tiago">
- <!--Actions-->
- <remap from="/tiago/gripper_client/gripper_module/gripper_trajectory"
- to="/gripper_controller/follow_joint_trajectory"/>
-
- <param name="~/gripper_module/rate_hz" value="10"/>
- <param name="~/gripper_module/action_max_retries" value="5"/>
- <param name="~/gripper_module/feedback_watchdog_time_s" value="20"/>
- <param name="~/gripper_module/enable_timeout" value="false"/>
- <param name="~/gripper_module/timeout_s" value="10"/>
- <param name="~/gripper_module/enabled" value="true"/>
-
- </node>
-
- <!-- launch dynamic reconfigure -->
- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>
+ <include file="$(find gripper_client)/launch/gripper_client.launch"/>
</launch>
diff --git a/src/gripper_client_alg_node.cpp b/src/gripper_client_alg_node.cpp
index d027f78..f875c42 100644
--- a/src/gripper_client_alg_node.cpp
+++ b/src/gripper_client_alg_node.cpp
@@ -2,7 +2,7 @@
GripperClientAlgNode::GripperClientAlgNode(void) :
algorithm_base::IriBaseAlgorithm<GripperClientAlgorithm>(),
- gripper_module("gripper_module")
+ gripper_module("gripper_module",ros::this_node::getName())
{
//init class attributes if necessary
this->loop_rate_ = 10;//in [Hz]
@@ -66,42 +66,36 @@ void GripperClientAlgNode::node_config_update(Config &config, uint32_t level)
//Open grippers
if(config.open)
{
- this->gripper_module.is_finished();
- ROS_INFO("GripperClientAlgNode:Grippers opened successfully!");
+ this->gripper_module.open(config.duration);
config.open=false;
}
//Close grippers
else if(config.close)
{
- this->gripper_module.is_finished();
- ROS_INFO("GripperClientAlgNode: Grippers closed successfully!");
+ this->gripper_module.close(config.duration);
config.close=false;
}
//Move fingers independently
else if(config.move_fingers_to_pos)
{
this->gripper_module.move_fingers(config.left_finger_pos,config.right_finger_pos,config.duration);
- ROS_INFO("GripperClientAlgNode: Fingers moved successfully!");
config.move_fingers_to_pos=false;
}
//Move fingers to list of positions
else if(config.follow_trajectory)
{
this->gripper_module.move_fingers(this->pos_l,this->pos_r,this->duration);
- ROS_INFO("GripperClientAlgNode: Fingers trajectory successfull!");
config.follow_trajectory=false;
}
else if(config.move_to_distance)
{
this->gripper_module.fingers_distance(config.fingers_distance,config.duration);
- ROS_INFO("GripperClientAlgNode: Fingers moved to distance successfull!");
config.move_to_distance=false;
}
//Grasp
else if(config.grasp)
{
this->gripper_module.close_grasp();
- ROS_INFO("GripperClientAlgNode: Completed grasping!");
config.grasp=false;
}
//Stop action
--
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