-
Notifications
You must be signed in to change notification settings - Fork 3
/
ezgripper_joy_action_client.py
executable file
·165 lines (129 loc) · 5.53 KB
/
ezgripper_joy_action_client.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
#!/usr/bin/python3
"""
EZGripper Joy Action Client Module
"""
#####################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2015, SAKE Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
##
import rclpy
from rclpy.qos import QoSProfile, \
QoSHistoryPolicy, QoSDurabilityPolicy, QoSReliabilityPolicy
from rclpy.node import Node
from sensor_msgs.msg import Joy
from ezgripper_libs.ezgripper_interface import EZGripper
qos_unlatched = QoSProfile( \
history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST, \
depth=1, \
durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE, \
reliability=QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
)
class EZGripperJoy():
"""
EZGripper Joy Action Client
"""
def __init__(self, node, gripper_names):
self.node = node
self.ezgripper_left = EZGripper(node, gripper_names[0])
if len(gripper_names) > 1:
self.ezgripper_right = EZGripper(node, gripper_names[1])
else:
self.ezgripper_right = None
self.last_command_end_time = self.get_time()
def get_time(self):
"""
Get current time in seconds
"""
time_msg = self.node.get_clock().now().to_msg()
return float(time_msg.sec) + (float(time_msg.nanosec) * 1e-9)
def now_from_start(self, start_time):
"""
start_time is in seconds
Get time difference from start time
"""
return self.get_time() - start_time
def joy_callback(self, joy):
"""
Joystick Callback
"""
if not joy.buttons:
return # Don't break on an empty list
if joy.buttons[5] == 1 and self.ezgripper_right is not None: # RB
gripper = self.ezgripper_right
else:
gripper = self.ezgripper_left
if self.now_from_start(self.last_command_end_time) > 0.2:
# This check should flush all messages accumulated during command execution
# and avoid executing it again.
if joy.buttons[0] == 1: # A - hard close
gripper.hard_close()
self.last_command_end_time = self.get_time()
if joy.buttons[3] == 1: # Y - soft close
gripper.soft_close()
self.last_command_end_time = self.get_time()
if joy.buttons[1] == 1: # B - open
gripper.open()
self.last_command_end_time = self.get_time()
if joy.buttons[2] == 1: # X - release
gripper.release()
self.last_command_end_time = self.get_time()
if joy.buttons[6] == 1: # BACK - Calibrate
gripper.calibrate()
self.last_command_end_time = self.get_time()
if joy.buttons[13] == 1: # xpad driver mapping
#if joy.axes[7] == 1.0: # xboxdrv mapping
gripper.open_step()
self.last_command_end_time = self.get_time()
if joy.buttons[14] == 1:
#if joy.axes[7] == -1.0:
gripper.close_step()
self.last_command_end_time = self.get_time()
def main(args=None):
"""
Main Function
"""
rclpy.init(args=args)
node = Node('ezgripper_joy_action_client_node')
node.declare_parameter("no_of_grippers")
no_of_grippers = node.get_parameter("no_of_grippers").value
gripper_names = []
for i in range(1, int(no_of_grippers) + 1):
node.declare_parameter('gripper_{}.action_name'.format(i))
node.declare_parameter('gripper_{}.robot_ns'.format(i))
action_name = node.get_parameter( \
'gripper_{}.action_name'.format(i)).value
robot_ns = node.get_parameter( \
'gripper_{}.robot_ns'.format(i)).value
gripper_names.append(robot_ns + '/ezgripper_controller/'+ action_name)
ezgripper_joy = EZGripperJoy(node, gripper_names)
node.create_subscription(Joy, '/joy', ezgripper_joy.joy_callback, qos_unlatched)
rclpy.spin(node)
rclpy.shutdown()
if __name__ == '__main__':
main()