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‎robotiq_hande_driver/CMakeLists.txt‎

Lines changed: 23 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -5,71 +5,51 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
55
add_compile_options(-Wall -Wextra -Wpedantic)
66
endif()
77

8-
set(HW_IF_INCLUDE_DEPENDS
9-
fmt
10-
hardware_interface
11-
pluginlib
12-
rclcpp
13-
rclcpp_lifecycle
14-
rcpputils
15-
)
8+
set(HW_IF_INCLUDE_DEPENDS fmt hardware_interface pluginlib rclcpp
9+
rclcpp_lifecycle rcpputils)
1610

1711
find_package(ament_cmake REQUIRED)
18-
foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
19-
find_package(${Dependency} REQUIRED)
12+
foreach(dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
13+
find_package(${dependency} REQUIRED)
2014
endforeach()
2115

22-
add_library(${PROJECT_NAME}
23-
SHARED
24-
hardware/src/hande_hardware_interface.cpp
25-
)
16+
add_library(${PROJECT_NAME} SHARED hardware/src/hande_hardware_interface.cpp)
2617

2718
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
28-
target_include_directories(robotiq_hande_driver PUBLIC
29-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
30-
$<INSTALL_INTERFACE:include>
31-
)
32-
ament_target_dependencies(
33-
${PROJECT_NAME} PUBLIC
34-
${HW_IF_INCLUDE_DEPENDS}
35-
)
19+
target_include_directories(
20+
robotiq_hande_driver
21+
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
22+
$<INSTALL_INTERFACE:include>)
23+
ament_target_dependencies(${PROJECT_NAME} PUBLIC ${HW_IF_INCLUDE_DEPENDS})
3624

37-
pluginlib_export_plugin_description_file(hardware_interface ros2_control_plugin.xml)
25+
pluginlib_export_plugin_description_file(hardware_interface
26+
ros2_control_plugin.xml)
3827

39-
install(
40-
DIRECTORY hardware/include/
41-
DESTINATION include/
42-
)
43-
install(
44-
DIRECTORY bringup
45-
DESTINATION share/${PROJECT_NAME}
46-
)
28+
install(DIRECTORY hardware/include/ DESTINATION include/)
29+
install(DIRECTORY bringup DESTINATION share/${PROJECT_NAME})
4730

48-
49-
install(TARGETS ${PROJECT_NAME}
31+
install(
32+
TARGETS ${PROJECT_NAME}
5033
EXPORT export_${PROJECT_NAME}
5134
ARCHIVE DESTINATION lib
5235
LIBRARY DESTINATION lib
53-
RUNTIME DESTINATION bin
54-
)
36+
RUNTIME DESTINATION bin)
5537

5638
if(BUILD_TESTING)
5739
find_package(ament_cmake_gmock REQUIRED)
5840
# find_package(ament_cmake_pytest REQUIRED)
5941
find_package(hardware_interface REQUIRED)
6042

61-
ament_add_gmock(test_load_hw_interface
62-
test/test_load_hw_interface.cpp
63-
)
43+
ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
6444
target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
6545

66-
# TODO: investigate
67-
# ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
68-
# ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
69-
# ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
46+
# TODO: investigate ament_add_pytest_test(example_7_urdf_xacro
47+
# test/test_urdf_xacro.py) ament_add_pytest_test(view_example_7_launch
48+
# test/test_view_robot_launch.py) ament_add_pytest_test(run_example_7_launch
49+
# test/test_r6bot_controller_launch.py)
7050
endif()
7151

72-
## EXPORTS
52+
# EXPORTS
7353
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
7454
ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS})
7555
ament_package()

‎robotiq_hande_driver/bringup/launch/gripper_controller_preview.launch.py‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -48,9 +48,8 @@ def generate_launch_description():
4848

4949

5050
def launch_setup(context: LaunchContext) -> list[IncludeLaunchDescription]:
51-
5251
# tf_prefix is implicitly used in robot_state_publisher (in URDF substitution)
53-
tf_prefix = LaunchConfiguration("tf_prefix", default="")
52+
tf_prefix = LaunchConfiguration("tf_prefix", default="") # noqa: F841
5453

5554
return [
5655
preapre_control_node(),
@@ -105,7 +104,8 @@ def preapre_control_node() -> Node:
105104

106105

107106
def prepare_robot_state_publisher_node() -> Node:
108-
tf_prefix = LaunchConfiguration("tf_prefix", default="")
107+
# tf_prefix is implicitly used in ParameterValue()
108+
tf_prefix = LaunchConfiguration("tf_prefix", default="") # noqa: F841
109109
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
110110

111111
robot_description_str = Command(

‎robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp‎

Lines changed: 38 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
11
#ifndef ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
22
#define ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
33

4-
#include <string>
54
#include <hardware_interface/system_interface.hpp>
65
#include <rclcpp/rclcpp.hpp>
6+
#include <string>
77

88
namespace robotiq_hande_driver {
99

@@ -12,37 +12,43 @@ namespace rlccp_lc = rclcpp_lifecycle;
1212

1313
constexpr int LEFT_FINGER_JOINT_ID = 0;
1414

15-
class RobotiqHandeHardwareInterface : public HWI::SystemInterface
16-
{
17-
public:
18-
RobotiqHandeHardwareInterface();
19-
20-
HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
21-
HWI::CallbackReturn on_configure(const rlccp_lc::State& previous_state) override;
22-
HWI::CallbackReturn on_cleanup(const rlccp_lc::State& previous_state) override;
23-
std::vector<HWI::StateInterface> export_state_interfaces() override;
24-
std::vector<HWI::CommandInterface> export_command_interfaces() override;
25-
26-
HWI::CallbackReturn on_activate(const rlccp_lc::State& previous_state) override;
27-
HWI::CallbackReturn on_deactivate(const rlccp_lc::State& previous_state) override;
28-
29-
HWI::CallbackReturn on_shutdown(const rlccp_lc::State& previous_state) override;
30-
HWI::CallbackReturn on_error(const rlccp_lc::State& previous_state) override;
31-
32-
HWI::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
33-
HWI::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
34-
35-
rclcpp::Logger get_logger() const { return *logger_; }
36-
37-
private:
38-
//TODO(modbus integration): composition of the modbus communication
39-
std::shared_ptr<rclcpp::Logger> logger_;
40-
41-
std::string tty_port_;
42-
double state_position_;
43-
double state_velocity_;
44-
double cmd_position_;
15+
class RobotiqHandeHardwareInterface : public HWI::SystemInterface {
16+
public:
17+
RobotiqHandeHardwareInterface();
18+
19+
HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
20+
HWI::CallbackReturn on_configure(
21+
const rlccp_lc::State& previous_state) override;
22+
HWI::CallbackReturn on_cleanup(
23+
const rlccp_lc::State& previous_state) override;
24+
std::vector<HWI::StateInterface> export_state_interfaces() override;
25+
std::vector<HWI::CommandInterface> export_command_interfaces() override;
26+
27+
HWI::CallbackReturn on_activate(
28+
const rlccp_lc::State& previous_state) override;
29+
HWI::CallbackReturn on_deactivate(
30+
const rlccp_lc::State& previous_state) override;
31+
32+
HWI::CallbackReturn on_shutdown(
33+
const rlccp_lc::State& previous_state) override;
34+
HWI::CallbackReturn on_error(const rlccp_lc::State& previous_state) override;
35+
36+
HWI::return_type read(const rclcpp::Time& time,
37+
const rclcpp::Duration& period) override;
38+
HWI::return_type write(const rclcpp::Time& time,
39+
const rclcpp::Duration& period) override;
40+
41+
rclcpp::Logger get_logger() const { return *logger_; }
42+
43+
private:
44+
// TODO(modbus integration): composition of the modbus communication
45+
std::shared_ptr<rclcpp::Logger> logger_;
46+
47+
std::string tty_port_;
48+
double state_position_;
49+
double state_velocity_;
50+
double cmd_position_;
4551
};
4652

47-
} // namespace robotiq_hande_driver
53+
} // namespace robotiq_hande_driver
4854
#endif // ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_

‎robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp‎

Lines changed: 76 additions & 63 deletions
Original file line numberDiff line numberDiff line change
@@ -7,97 +7,110 @@ namespace robotiq_hande_driver {
77

88
RobotiqHandeHardwareInterface::RobotiqHandeHardwareInterface() {}
99

10-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(const HWI::HardwareInfo& info) {
11-
if (HWI::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
12-
return HWI::CallbackReturn::ERROR;
13-
}
10+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(
11+
const HWI::HardwareInfo& info) {
12+
if (HWI::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
13+
return HWI::CallbackReturn::ERROR;
14+
}
1415

15-
state_position_ = 0.025;
16-
state_velocity_ = 0.0;
17-
cmd_position_ = 0.025;
18-
tty_port_ = info_.hardware_parameters["tty"];
16+
state_position_ = 0.025;
17+
state_velocity_ = 0.0;
18+
cmd_position_ = 0.025;
19+
tty_port_ = info_.hardware_parameters["tty"];
1920

20-
logger_ = std::make_shared<rclcpp::Logger>(
21-
rclcpp::get_logger("controller_manager.resource_manager.hardware_component.system.RobotiqHandeHardwareInterface"));
21+
logger_ = std::make_shared<rclcpp::Logger>(
22+
rclcpp::get_logger("controller_manager.resource_manager.hardware_"
23+
"component.system.RobotiqHandeHardwareInterface"));
2224

23-
//TODO(modbus integration): Set parameters for the modbus communication
25+
// TODO(modbus integration): Set parameters for the modbus communication
2426

25-
RCLCPP_INFO(get_logger(), "Initialized ModbusRTU for %s", tty_port_.c_str());
26-
return HWI::CallbackReturn::SUCCESS;
27+
RCLCPP_INFO(get_logger(), "Initialized ModbusRTU for %s", tty_port_.c_str());
28+
return HWI::CallbackReturn::SUCCESS;
2729
}
2830

29-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(const rlccp_lc::State& /*previous_state*/){
30-
//TODO(modbus integration): Initialize the ModbusRTU communication session
31-
RCLCPP_INFO(get_logger(), "configure()");
32-
return HWI::CallbackReturn::SUCCESS;
31+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(
32+
const rlccp_lc::State& /*previous_state*/) {
33+
// TODO(modbus integration): Initialize the ModbusRTU communication session
34+
RCLCPP_INFO(get_logger(), "configure()");
35+
return HWI::CallbackReturn::SUCCESS;
3336
}
3437

35-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_cleanup(const rlccp_lc::State& /*previous_state*/){
36-
//TODO(modbus integration): Deinitalize the ModbusRTU session
37-
RCLCPP_INFO(get_logger(), "cleanup()");
38-
return HWI::CallbackReturn::SUCCESS;
38+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_cleanup(
39+
const rlccp_lc::State& /*previous_state*/) {
40+
// TODO(modbus integration): Deinitalize the ModbusRTU session
41+
RCLCPP_INFO(get_logger(), "cleanup()");
42+
return HWI::CallbackReturn::SUCCESS;
3943
}
4044

41-
std::vector<HWI::StateInterface> RobotiqHandeHardwareInterface::export_state_interfaces() {
42-
std::vector<HWI::StateInterface> state_interfaces;
45+
std::vector<HWI::StateInterface>
46+
RobotiqHandeHardwareInterface::export_state_interfaces() {
47+
std::vector<HWI::StateInterface> state_interfaces;
4348

44-
state_interfaces.emplace_back(hardware_interface::StateInterface(
45-
info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_POSITION, &state_position_));
46-
state_interfaces.emplace_back(hardware_interface::StateInterface(
47-
info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_VELOCITY, &state_velocity_));
49+
state_interfaces.emplace_back(hardware_interface::StateInterface(
50+
info_.joints[LEFT_FINGER_JOINT_ID].name,
51+
hardware_interface::HW_IF_POSITION, &state_position_));
52+
state_interfaces.emplace_back(hardware_interface::StateInterface(
53+
info_.joints[LEFT_FINGER_JOINT_ID].name,
54+
hardware_interface::HW_IF_VELOCITY, &state_velocity_));
4855

49-
RCLCPP_INFO(get_logger(), "export_state_interfaces()");
50-
return state_interfaces;
56+
RCLCPP_INFO(get_logger(), "export_state_interfaces()");
57+
return state_interfaces;
5158
}
5259

53-
std::vector<HWI::CommandInterface> RobotiqHandeHardwareInterface::export_command_interfaces() {
54-
std::vector<hardware_interface::CommandInterface> command_interfaces;
60+
std::vector<HWI::CommandInterface>
61+
RobotiqHandeHardwareInterface::export_command_interfaces() {
62+
std::vector<hardware_interface::CommandInterface> command_interfaces;
5563

56-
command_interfaces.emplace_back(hardware_interface::CommandInterface(
57-
info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_POSITION, &cmd_position_));
64+
command_interfaces.emplace_back(hardware_interface::CommandInterface(
65+
info_.joints[LEFT_FINGER_JOINT_ID].name,
66+
hardware_interface::HW_IF_POSITION, &cmd_position_));
5867

59-
RCLCPP_INFO(get_logger(), "export_command_interfaces()");
60-
return command_interfaces;
68+
RCLCPP_INFO(get_logger(), "export_command_interfaces()");
69+
return command_interfaces;
6170
}
6271

63-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_activate(const rlccp_lc::State& /*previous_state*/){
64-
//TODO(modbus integration): Power on the gripper (activation)
65-
RCLCPP_INFO(get_logger(), "activate()");
66-
return HWI::CallbackReturn::SUCCESS;
72+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_activate(
73+
const rlccp_lc::State& /*previous_state*/) {
74+
// TODO(modbus integration): Power on the gripper (activation)
75+
RCLCPP_INFO(get_logger(), "activate()");
76+
return HWI::CallbackReturn::SUCCESS;
6777
}
6878

69-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_deactivate(const rlccp_lc::State& /*previous_state*/){
70-
//TODO(modbus integration): Deactiavte the gripper (set the reset flag)
71-
RCLCPP_INFO(get_logger(), "deactivate()");
72-
return HWI::CallbackReturn::SUCCESS;
79+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_deactivate(
80+
const rlccp_lc::State& /*previous_state*/) {
81+
// TODO(modbus integration): Deactiavte the gripper (set the reset flag)
82+
RCLCPP_INFO(get_logger(), "deactivate()");
83+
return HWI::CallbackReturn::SUCCESS;
7384
}
7485

75-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_shutdown(const rlccp_lc::State& /*previous_state*/){
76-
//TODO(modbus integration): Deactivate the gripper, deinitalize the modbus RTU session,
77-
RCLCPP_INFO(get_logger(), "shutdown()");
78-
return HWI::CallbackReturn::SUCCESS;
86+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_shutdown(
87+
const rlccp_lc::State& /*previous_state*/) {
88+
// TODO(modbus integration): Deactivate the gripper, deinitalize the modbus
89+
// RTU session,
90+
RCLCPP_INFO(get_logger(), "shutdown()");
91+
return HWI::CallbackReturn::SUCCESS;
7992
}
8093

81-
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_error(const rlccp_lc::State& /*previous_state*/){
82-
//TODO(modbus integration): Placeholder for error handling
83-
RCLCPP_INFO(get_logger(), "Handled error");
84-
return HWI::CallbackReturn::SUCCESS;
94+
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_error(
95+
const rlccp_lc::State& /*previous_state*/) {
96+
// TODO(modbus integration): Placeholder for error handling
97+
RCLCPP_INFO(get_logger(), "Handled error");
98+
return HWI::CallbackReturn::SUCCESS;
8599
}
86100

87-
HWI::return_type RobotiqHandeHardwareInterface::read(const rclcpp::Time& /*time*/,
88-
const rclcpp::Duration& /*period*/) {
89-
//TODO(modbus integration): data = driver_->receive_data();
90-
return hardware_interface::return_type::OK;
101+
HWI::return_type RobotiqHandeHardwareInterface::read(
102+
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
103+
// TODO(modbus integration): data = driver_->receive_data();
104+
return hardware_interface::return_type::OK;
91105
}
92-
HWI::return_type RobotiqHandeHardwareInterface::write(const rclcpp::Time& /*time*/,
93-
const rclcpp::Duration& /*period*/) {
94-
//TODO(modbus integration): driver_->send_data(cmd_position_);
95-
return hardware_interface::return_type::OK;
106+
HWI::return_type RobotiqHandeHardwareInterface::write(
107+
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
108+
// TODO(modbus integration): driver_->send_data(cmd_position_);
109+
return hardware_interface::return_type::OK;
96110
}
97111

98-
99-
} // namespace robotiq_hande_driver
112+
} // namespace robotiq_hande_driver
100113

101114
#include "pluginlib/class_list_macros.hpp"
102-
PLUGINLIB_EXPORT_CLASS(
103-
robotiq_hande_driver::RobotiqHandeHardwareInterface, hardware_interface::SystemInterface)
115+
PLUGINLIB_EXPORT_CLASS(robotiq_hande_driver::RobotiqHandeHardwareInterface,
116+
hardware_interface::SystemInterface)

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