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Added IO Gripper Control and Configuration Messages, Services, and Actions #164
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bool open | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. What if you want to control the percentage of the closure? There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. That's a good idea. I will update it. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. @saikishor in this case you cannot control the percentage of the closure. As there are IOs controlled behind it and usually pneumatic gripper that might have different states, but those are then different IOs, in most cases those have only 2 states, What here might be interesting, that we have different states besides |
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bool success | ||
string message | ||
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uint8 state |
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. @bmagyar Independently of configuration, the |
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string config_name | ||
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bool result | ||
string status | ||
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uint8 state |
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bool state |
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. same comment as for the action. |
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string config_name | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. How do you configure just based on string?. I think It is missing some documentation There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. @sachinkum0009 please add in general documentation about all fields in the message. Add those as comments at the begin of the message. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. general documentation about all fields in the message added. |
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bool result | ||
string status |
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This custom Gripper action maybe should be renamed to
IOGripperCommand
.@bmagyar the reason to have a separate action here is that this kind of gripper has only
open
/close
states, and nothing can be controlled much. Usually, those are the pneumatic ones so some cylinders are moving somehow, but we can not control intermediate states, i.e., "positions".Looking at the existing Actions and having, e.g.,
JointState
as input to the action (as done inParallelGripperAction
could be possible, but confusing and inconvenient. Possibly as a secondary interface, but as of now I don't see the usability of it, as we would command something implicitly that we cannot control.There was a problem hiding this comment.
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Thanks for the suggestion. I have updated the interface names.