parallel_gripper_command_controller_handle.hpp

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/* Design inspired by gripper_command_controller_handle.hpp */
/* Author: Marq Rasmussen */
 
#pragma once
 
#include <moveit_simple_controller_manager/action_based_controller_handle.hpp>
#include <control_msgs/action/parallel_gripper_command.hpp>
#include <set>
 
namespace moveit_simple_controller_manager
{
/*
 * This is an interface for a gripper using the control_msgs/ParallelGripperCommand action interface.
 */
class ParallelGripperCommandControllerHandle
  : public ActionBasedControllerHandle<control_msgs::action::ParallelGripperCommand>
{
public:
  /* Topics will map to name/ns/goal, name/ns/result, etc */
  ParallelGripperCommandControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name,
                                         const std::string& ns, const double max_effort = 0.0,
                                         const double max_velocity = 0.0)
    : ActionBasedControllerHandle<control_msgs::action::ParallelGripperCommand>(
          node, name, ns, "moveit.simple_controller_manager.parallel_gripper_controller_handle")
    , max_effort_(max_effort)
    , max_velocity_(max_velocity)
  {
  }
 
  bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) override
  {
    RCLCPP_DEBUG_STREAM(logger_, "Received new trajectory for " << name_);
 
    if (!controller_action_client_)
      return false;
 
    if (!isConnected())
    {
      RCLCPP_ERROR_STREAM(logger_, "Action client not connected to action server: " << getActionName());
      return false;
    }
 
    if (!trajectory.multi_dof_joint_trajectory.points.empty())
    {
      RCLCPP_ERROR(logger_, "%s cannot execute multi-dof trajectories.", name_.c_str());
      return false;
    }
 
    if (trajectory.joint_trajectory.points.empty())
    {
      RCLCPP_ERROR(logger_, "%s requires at least one joint trajectory point, but none received.", name_.c_str());
      return false;
    }
 
    if (trajectory.joint_trajectory.joint_names.empty())
    {
      RCLCPP_ERROR(logger_, "%s received a trajectory with no joint names specified.", name_.c_str());
      return false;
    }
 
    // goal to be sent
    control_msgs::action::ParallelGripperCommand::Goal goal;
    auto& cmd_state = goal.command;
 
    auto& joint_names = trajectory.joint_trajectory.joint_names;
    auto it = std::find(joint_names.begin(), joint_names.end(), command_joint_);
    if (it != joint_names.end())
    {
      cmd_state.name.push_back(command_joint_);
      std::size_t gripper_joint_index = std::distance(joint_names.begin(), it);
      // send last trajectory point
      if (trajectory.joint_trajectory.points.back().positions.size() <= gripper_joint_index)
      {
        RCLCPP_ERROR(logger_, "ParallelGripperCommand expects a joint trajectory with one \
                               point that specifies at least the position of joint \
                               '%s', but insufficient positions provided.",
                     trajectory.joint_trajectory.joint_names[gripper_joint_index].c_str());
        return false;
      }
      cmd_state.position.push_back(trajectory.joint_trajectory.points.back().positions[gripper_joint_index]);
      // only set the velocity or effort if the user has specified a positive non-zero max value
      if (max_velocity_ > 0.0)
      {
        cmd_state.velocity.push_back(max_velocity_);
      }
      if (max_effort_ > 0.0)
      {
        cmd_state.effort.push_back(max_effort_);
      }
    }
    else
    {
      RCLCPP_ERROR(logger_, "Received trajectory does not include a command for joint name %s.", command_joint_.c_str());
      return false;
    }
 
    rclcpp_action::Client<control_msgs::action::ParallelGripperCommand>::SendGoalOptions send_goal_options;
    // Active callback
    send_goal_options.goal_response_callback =
        [this](const rclcpp_action::Client<control_msgs::action::ParallelGripperCommand>::GoalHandle::SharedPtr&
               /* unused-arg */) { RCLCPP_DEBUG_STREAM(logger_, name_ << " started execution."); };
    // Send goal
    auto current_goal_future = controller_action_client_->async_send_goal(goal, send_goal_options);
    current_goal_ = current_goal_future.get();
    if (!current_goal_)
    {
      RCLCPP_ERROR(logger_, "%s goal was rejected by server.", name_.c_str());
      return false;
    }
 
    done_ = false;
    last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING;
    return true;
  }
 
  void setCommandJoint(const std::string& name)
  {
    command_joint_ = name;
  }
 
private:
  void controllerDoneCallback(
      const rclcpp_action::ClientGoalHandle<control_msgs::action::ParallelGripperCommand>::WrappedResult& wrapped_result)
      override
  {
    finishControllerExecution(wrapped_result.code);
  }
 
  /*
   * The ``max_effort`` used in the ParallelGripperCommand message.
   */
  double max_effort_ = 0.0;
 
  /*
   * The ``max_velocity_`` used in the ParallelGripperCommand message.
   */
  double max_velocity_ = 0.0;
 
  /*
   * The joint to command in the ParallelGripperCommand message
   */
  std::string command_joint_;
};  // namespace moveit_simple_controller_manager
 
}  // end namespace moveit_simple_controller_manager