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-124
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4 files changed

+118
-124
lines changed

‎robotiq_hande_driver/CMakeLists.txt‎

Lines changed: 13 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,13 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
55
add_compile_options(-Wall -Wextra -Wpedantic -Werror)
66
endif()
77

8-
set(HW_IF_INCLUDE_DEPENDS fmt hardware_interface pluginlib rclcpp
9-
rclcpp_lifecycle rcpputils)
8+
set(HW_IF_INCLUDE_DEPENDS
9+
fmt
10+
hardware_interface
11+
pluginlib
12+
rclcpp
13+
rclcpp_lifecycle
14+
rcpputils)
1015

1116
find_package(ament_cmake REQUIRED)
1217
foreach(dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
@@ -17,13 +22,11 @@ add_library(${PROJECT_NAME} SHARED hardware/src/hande_hardware_interface.cpp)
1722

1823
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
1924
target_include_directories(
20-
robotiq_hande_driver
21-
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
22-
$<INSTALL_INTERFACE:include>)
25+
robotiq_hande_driver PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
26+
$<INSTALL_INTERFACE:include>)
2327
ament_target_dependencies(${PROJECT_NAME} PUBLIC ${HW_IF_INCLUDE_DEPENDS})
2428

25-
pluginlib_export_plugin_description_file(hardware_interface
26-
ros2_control_plugin.xml)
29+
pluginlib_export_plugin_description_file(hardware_interface ros2_control_plugin.xml)
2730

2831
install(DIRECTORY hardware/include/ DESTINATION include/)
2932
install(DIRECTORY bringup DESTINATION share/${PROJECT_NAME})
@@ -43,10 +46,9 @@ if(BUILD_TESTING)
4346
ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
4447
target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
4548

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)
49+
# TODO: investigate ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
50+
# ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
51+
# ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
5052
endif()
5153

5254
# EXPORTS

‎robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp‎

Lines changed: 30 additions & 35 deletions
Original file line numberDiff line numberDiff line change
@@ -13,41 +13,36 @@ namespace rlccp_lc = rclcpp_lifecycle;
1313
constexpr int LEFT_FINGER_JOINT_ID = 0;
1414

1515
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_;
16+
public:
17+
RobotiqHandeHardwareInterface();
18+
19+
HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
20+
HWI::CallbackReturn on_configure(const rlccp_lc::State& previous_state) override;
21+
HWI::CallbackReturn on_cleanup(const rlccp_lc::State& previous_state) override;
22+
std::vector<HWI::StateInterface> export_state_interfaces() override;
23+
std::vector<HWI::CommandInterface> export_command_interfaces() override;
24+
25+
HWI::CallbackReturn on_activate(const rlccp_lc::State& previous_state) override;
26+
HWI::CallbackReturn on_deactivate(const rlccp_lc::State& previous_state) override;
27+
28+
HWI::CallbackReturn on_shutdown(const rlccp_lc::State& previous_state) override;
29+
HWI::CallbackReturn on_error(const rlccp_lc::State& previous_state) override;
30+
31+
HWI::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
32+
HWI::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
33+
34+
rclcpp::Logger get_logger() const {
35+
return *logger_;
36+
}
37+
38+
private:
39+
// TODO(modbus integration): composition of the modbus communication
40+
std::shared_ptr<rclcpp::Logger> logger_;
41+
42+
std::string tty_port_;
43+
double state_position_;
44+
double state_velocity_;
45+
double cmd_position_;
5146
};
5247

5348
} // namespace robotiq_hande_driver

‎robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp‎

Lines changed: 59 additions & 59 deletions
Original file line numberDiff line numberDiff line change
@@ -7,110 +7,110 @@ namespace robotiq_hande_driver {
77

88
RobotiqHandeHardwareInterface::RobotiqHandeHardwareInterface() {}
99

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-
}
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+
}
1514

16-
state_position_ = 0.025;
17-
state_velocity_ = 0.0;
18-
cmd_position_ = 0.025;
19-
tty_port_ = info_.hardware_parameters["tty"];
15+
state_position_ = 0.025;
16+
state_velocity_ = 0.0;
17+
cmd_position_ = 0.025;
18+
tty_port_ = info_.hardware_parameters["tty"];
2019

21-
logger_ = std::make_shared<rclcpp::Logger>(
22-
rclcpp::get_logger("controller_manager.resource_manager.hardware_"
23-
"component.system.RobotiqHandeHardwareInterface"));
20+
logger_ = std::make_shared<rclcpp::Logger>(
21+
rclcpp::get_logger("controller_manager.resource_manager.hardware_"
22+
"component.system.RobotiqHandeHardwareInterface"));
2423

25-
// TODO(modbus integration): Set parameters for the modbus communication
24+
// TODO(modbus integration): Set parameters for the modbus communication
2625

27-
RCLCPP_INFO(get_logger(), "Initialized ModbusRTU for %s", tty_port_.c_str());
28-
return HWI::CallbackReturn::SUCCESS;
26+
RCLCPP_INFO(get_logger(), "Initialized ModbusRTU for %s", tty_port_.c_str());
27+
return HWI::CallbackReturn::SUCCESS;
2928
}
3029

3130
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(
3231
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;
32+
// TODO(modbus integration): Initialize the ModbusRTU communication session
33+
RCLCPP_INFO(get_logger(), "configure()");
34+
return HWI::CallbackReturn::SUCCESS;
3635
}
3736

3837
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_cleanup(
3938
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;
39+
// TODO(modbus integration): Deinitalize the ModbusRTU session
40+
RCLCPP_INFO(get_logger(), "cleanup()");
41+
return HWI::CallbackReturn::SUCCESS;
4342
}
4443

45-
std::vector<HWI::StateInterface>
46-
RobotiqHandeHardwareInterface::export_state_interfaces() {
47-
std::vector<HWI::StateInterface> state_interfaces;
44+
std::vector<HWI::StateInterface> RobotiqHandeHardwareInterface::export_state_interfaces() {
45+
std::vector<HWI::StateInterface> state_interfaces;
4846

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_));
47+
state_interfaces.emplace_back(hardware_interface::StateInterface(
48+
info_.joints[LEFT_FINGER_JOINT_ID].name,
49+
hardware_interface::HW_IF_POSITION,
50+
&state_position_));
51+
state_interfaces.emplace_back(hardware_interface::StateInterface(
52+
info_.joints[LEFT_FINGER_JOINT_ID].name,
53+
hardware_interface::HW_IF_VELOCITY,
54+
&state_velocity_));
5555

56-
RCLCPP_INFO(get_logger(), "export_state_interfaces()");
57-
return state_interfaces;
56+
RCLCPP_INFO(get_logger(), "export_state_interfaces()");
57+
return state_interfaces;
5858
}
5959

60-
std::vector<HWI::CommandInterface>
61-
RobotiqHandeHardwareInterface::export_command_interfaces() {
62-
std::vector<hardware_interface::CommandInterface> command_interfaces;
60+
std::vector<HWI::CommandInterface> RobotiqHandeHardwareInterface::export_command_interfaces() {
61+
std::vector<hardware_interface::CommandInterface> command_interfaces;
6362

64-
command_interfaces.emplace_back(hardware_interface::CommandInterface(
65-
info_.joints[LEFT_FINGER_JOINT_ID].name,
66-
hardware_interface::HW_IF_POSITION, &cmd_position_));
63+
command_interfaces.emplace_back(hardware_interface::CommandInterface(
64+
info_.joints[LEFT_FINGER_JOINT_ID].name,
65+
hardware_interface::HW_IF_POSITION,
66+
&cmd_position_));
6767

68-
RCLCPP_INFO(get_logger(), "export_command_interfaces()");
69-
return command_interfaces;
68+
RCLCPP_INFO(get_logger(), "export_command_interfaces()");
69+
return command_interfaces;
7070
}
7171

7272
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_activate(
7373
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;
74+
// TODO(modbus integration): Power on the gripper (activation)
75+
RCLCPP_INFO(get_logger(), "activate()");
76+
return HWI::CallbackReturn::SUCCESS;
7777
}
7878

7979
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_deactivate(
8080
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;
81+
// TODO(modbus integration): Deactiavte the gripper (set the reset flag)
82+
RCLCPP_INFO(get_logger(), "deactivate()");
83+
return HWI::CallbackReturn::SUCCESS;
8484
}
8585

8686
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_shutdown(
8787
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;
88+
// TODO(modbus integration): Deactivate the gripper, deinitalize the modbus
89+
// RTU session,
90+
RCLCPP_INFO(get_logger(), "shutdown()");
91+
return HWI::CallbackReturn::SUCCESS;
9292
}
9393

9494
HWI::CallbackReturn RobotiqHandeHardwareInterface::on_error(
9595
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;
96+
// TODO(modbus integration): Placeholder for error handling
97+
RCLCPP_INFO(get_logger(), "Handled error");
98+
return HWI::CallbackReturn::SUCCESS;
9999
}
100100

101101
HWI::return_type RobotiqHandeHardwareInterface::read(
102102
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
103-
// TODO(modbus integration): data = driver_->receive_data();
104-
return hardware_interface::return_type::OK;
103+
// TODO(modbus integration): data = driver_->receive_data();
104+
return hardware_interface::return_type::OK;
105105
}
106106
HWI::return_type RobotiqHandeHardwareInterface::write(
107107
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
108-
// TODO(modbus integration): driver_->send_data(cmd_position_);
109-
return hardware_interface::return_type::OK;
108+
// TODO(modbus integration): driver_->send_data(cmd_position_);
109+
return hardware_interface::return_type::OK;
110110
}
111111

112112
} // namespace robotiq_hande_driver
113113

114114
#include "pluginlib/class_list_macros.hpp"
115-
PLUGINLIB_EXPORT_CLASS(robotiq_hande_driver::RobotiqHandeHardwareInterface,
116-
hardware_interface::SystemInterface)
115+
PLUGINLIB_EXPORT_CLASS(
116+
robotiq_hande_driver::RobotiqHandeHardwareInterface, hardware_interface::SystemInterface)

‎robotiq_hande_driver/test/test_load_hw_interface.cpp‎

Lines changed: 16 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -14,16 +14,15 @@
1414

1515
namespace {
1616
const auto TIME = rclcpp::Time(0);
17-
const auto PERIOD =
18-
rclcpp::Duration::from_seconds(0.1); // 0.1 seconds for easier math
17+
const auto PERIOD = rclcpp::Duration::from_seconds(0.1); // 0.1 seconds for easier math
1918
const auto COMPARE_DELTA = 0.0001;
2019
} // namespace
2120

2221
class TestHWInterface : public ::testing::Test {
23-
protected:
24-
void SetUp() override {
25-
hw_system_gripper_1dof_ =
26-
R"(
22+
protected:
23+
void SetUp() override {
24+
hw_system_gripper_1dof_ =
25+
R"(
2726
<ros2_control name="HandeGripperExample" type="system">
2827
<hardware>
2928
<plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
@@ -37,9 +36,9 @@ class TestHWInterface : public ::testing::Test {
3736
</joint>
3837
</ros2_control>
3938
)";
40-
}
39+
}
4140

42-
std::string hw_system_gripper_1dof_;
41+
std::string hw_system_gripper_1dof_;
4342
};
4443

4544
// Forward declaration
@@ -48,20 +47,18 @@ class ResourceStorage;
4847
}
4948

5049
class TestableResourceManager : public hardware_interface::ResourceManager {
51-
public:
52-
friend TestHWInterface;
50+
public:
51+
friend TestHWInterface;
5352

54-
TestableResourceManager() : hardware_interface::ResourceManager() {}
53+
TestableResourceManager() : hardware_interface::ResourceManager() {}
5554

56-
TestableResourceManager(const std::string& urdf,
57-
bool validate_interfaces = true,
58-
bool activate_all = false)
59-
: hardware_interface::ResourceManager(urdf, validate_interfaces,
60-
activate_all) {}
55+
TestableResourceManager(
56+
const std::string& urdf, bool validate_interfaces = true, bool activate_all = false)
57+
: hardware_interface::ResourceManager(urdf, validate_interfaces, activate_all) {}
6158
};
6259

6360
TEST_F(TestHWInterface, load_robotiq_hande_hardware_interface) {
64-
auto urdf = ros2_control_test_assets::urdf_head + hw_system_gripper_1dof_ +
65-
ros2_control_test_assets::urdf_tail;
66-
ASSERT_NO_THROW(TestableResourceManager rm(urdf));
61+
auto urdf = ros2_control_test_assets::urdf_head + hw_system_gripper_1dof_
62+
+ ros2_control_test_assets::urdf_tail;
63+
ASSERT_NO_THROW(TestableResourceManager rm(urdf));
6764
}

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