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Initial ros2_control architecture (#1)
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‎README.md‎

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# robotiq_hande_driver
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[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
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[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
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Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) from the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework.
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Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) from the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/macmacal/robotiq_hande_description) package for the URDF definitions.
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Work is still in progress.
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[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
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```bash
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cd ~/ceai_ws/src
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git clone git@github.com:AGH-CEAI/robotiq_hande_driver.git ./src
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vcs import src < src/robotiq_hande_driver/robotiq_hande_driver.repos &&
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colcon build --symlink-install --packages-select robotiq_hande_driver
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source ./install/local_setup.sh
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```
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### Run
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### Launch preview
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```bash
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ros2 run robotiq_hande_driver hande_driver
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ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_hardware:=true
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```
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‎robotiq_hande_driver/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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cmake_minimum_required(VERSION 3.16)
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project(robotiq_hande_driver)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(HW_IF_INCLUDE_DEPENDS
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fmt
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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rcpputils
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)
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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add_library(${PROJECT_NAME}
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SHARED
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hardware/src/hande_hardware_interface.cpp
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)
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target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
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target_include_directories(robotiq_hande_driver PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(
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${PROJECT_NAME} PUBLIC
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${HW_IF_INCLUDE_DEPENDS}
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)
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pluginlib_export_plugin_description_file(hardware_interface ros2_control_plugin.xml)
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install(
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DIRECTORY hardware/include/
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DESTINATION include/
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)
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install(
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DIRECTORY bringup
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DESTINATION share/${PROJECT_NAME}
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)
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add_executable(hande_driver src/hande_driver.cpp)
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target_include_directories(hande_driver PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
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install(TARGETS hande_driver
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DESTINATION lib/${PROJECT_NAME})
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install(TARGETS ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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# find_package(ament_cmake_pytest REQUIRED)
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find_package(hardware_interface REQUIRED)
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ament_add_gmock(test_load_hw_interface
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test/test_load_hw_interface.cpp
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)
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target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
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# TODO: investigate
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# ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
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# ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
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# ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
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endif()
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## EXPORTS
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS})
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ament_package()

‎robotiq_hande_driver/bringup/config/hande_controller.yaml‎

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# This is an example configuration file for the controller_manager node.
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# YOU CAN NOT USE IT IN YOUR APPLICATION WITHOUT CHANGES
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/**:
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controller_manager:
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ros__parameters:
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update_rate: 10 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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gripper_action_controller:
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type: position_controllers/GripperActionController
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gripper_action_controller:
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ros__parameters:
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action_monitor_rate: 20.0 # Hz
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joint: $(var tf_prefix)robotiq_hande_left_finger_joint
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max_effort: 10.0 # N
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goal_tolerance: 0.01 # m
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allow_stalling: false
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stall_velocity_threshold: 0.001 #m/s
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stall_timeout: 1.0 # s
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state_interfaces:
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- position

‎robotiq_hande_driver/bringup/config/rviz_preview.rviz‎

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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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Splitter Ratio: 0.5
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Tree Height: 2233
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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robotiq_hande_coupler:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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robotiq_hande_end:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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robotiq_hande_left_finger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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robotiq_hande_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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robotiq_hande_right_finger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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tool0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: tool0
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 0.5352108478546143
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.46039843559265137
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 4.508580684661865
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 2531
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd0000000400000000000001ac00000944fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000944000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000944fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e00000944000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003efc0100000002fb0000000800540069006d00650100000000000005a00000027900fffffffb0000000800540069006d00650100000000000004500000000000000000000003ee0000094400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1440
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X: 0
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Y: 0

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