Added IO Gripper Control and Configuration Messages, Services, and Actions

control_msgs/CMakeLists.txt

@@ -45,14 +45,17 @@ set(action_files
   action/ParallelGripperCommand.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
+  action/IOGripperCommand.action
   action/JointTrajectory.action
   action/PointHead.action
+  action/SetIOGripperConfig.action
   action/SingleJointPosition.action
 )
 
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
+  srv/SetIOGripperConfig.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

control_msgs/action/IOGripperCommand.action

@@ -0,0 +1,18 @@
+# This action interface is defined for controlling the io gripper controller to open or close the gripper
+
+# The io_gripper_controller follows a set of states to open/close the gripper
+# The states are defined as follows:
+# IDLE (0): The gripper is in an idle state, not performing any action.
+# SET_BEFORE_COMMAND (1): The gripper is preparing to execute a command.
+# CLOSE_GRIPPER (2): The gripper is closing.
+# CHECK_GRIPPER_STATE (3): The gripper is checking its current state.
+# OPEN_GRIPPER (4): The gripper is opening.
+# SET_AFTER_COMMAND (5): The gripper is finalizing the command execution.
+# HALTED (6): The gripper has halted due to an error or stop command.
+
+bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close)
+---
+bool success # true for performing the gripper command successfully and vice versa
+string message # informational, e.g. for success or error messages
+---
+uint8 state # state of the gripper as defined above

control_msgs/action/SetIOGripperConfig.action

@@ -0,0 +1,21 @@
+# This action interface is defined for setting the configuration of the io gripper controller
+# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings
+# e.g. configurations: ["stichmass_125", "stichmass_250"]
+# The action request is called with the name of the configuration to be set
+
+# The io_gripper_controller follows a set of states to reconfigure the gripper
+# The states are defined as follows:
+# Enum representing the states of the reconfiguration process.
+# States:
+# - IDLE (0): The reconfiguration process is idle, not performing any action.
+# - FIND_CONFIG (1): Finding the configuration settings.
+# - SET_COMMAND (2): Setting the command based on the configuration.
+# - CHECK_STATE (3): Checking the state after setting the command.
+
+
+string config_name # information about which configuration is being set for the gripper controller
+---
+bool result # indicate success for setting the configuration of the gripper controller and vice versa
+string status # informational, e.g. for success or error messages
+---
+uint8 state # state of the gripper as defined above

control_msgs/srv/SetIOGripperConfig.srv

@@ -0,0 +1,9 @@
+# This service interface is defined for setting the configuration of the io gripper controller
+# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings
+# e.g. configurations: ["stichmass_125", "stichmass_250"]
+# The service request is called with the name of the configuration to be set
+
+string config_name # information about which configuration is being set for the gripper controller
+---
+bool result # indicate success for setting the configuration of the gripper controller and vice versa
+string status # informational, e.g. for success or error messages