Squashed commit of the following:

destogl · YaraShahin · commit fca7b95648b2 · 2026-03-22T09:46:37.000+02:00
commit 1623562 Author: Dr. Denis <denis.stogl@b-robotized.com> Date: Mon Sep 1 16:31:42 2025 +0200 Add name of the final state and configuration in the action. commit 12ce27f Author: Dr. Denis <denis@stoglrobotics.de> Date: Mon Sep 1 13:48:43 2025 +0200 Update control_msgs/CMakeLists.txt Co-authored-by: Xavier Guay <xavguay@gmail.com> commit 353e1db Author: Dr. Denis <denis@stoglrobotics.de> Date: Mon Sep 1 13:48:35 2025 +0200 Update control_msgs/CMakeLists.txt Co-authored-by: Xavier Guay <xavguay@gmail.com> commit 53cf1eb Merge: 6efde49 8780034 Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Mon Jul 28 20:14:35 2025 +0200 Merge branch 'master' into gripper-io-msg commit 6efde49 Author: Dr. Denis <denis.stogl@b-robotized.com> Date: Thu Jun 12 14:42:30 2025 +0200 Renamed IO Gripper Controller to GPIO tool controller. commit 6cb4c50 Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Mon Jan 20 08:47:28 2025 +0100 pre-commit fix commit 36d81f6 Author: Dr. Denis <denis@b-robotized.com> Date: Fri Jan 17 16:06:45 2025 +0100 Update messges to have better status from the gripper. commit 01bfd75 Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 9 23:09:44 2025 +0100 doc updated for states commit 90c1bea Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 9 23:02:51 2025 +0100 pre-commit fix commit 4007594 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 23:04:52 2025 +0100 configuration names modified Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit 22c0466 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 19:12:21 2025 +0100 configuration names modified Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit b5570d7 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 19:10:25 2025 +0100 Update code for states Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit 651b4ce Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Fri Jan 3 01:51:58 2025 +0100 removed whitespace line commit 7fc20db Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 2 22:45:50 2025 +0100 renamed interface names and added doc commit 5949676 Author: Dr. Denis <denis@stoglrobotics.de> Date: Thu Jan 2 12:11:18 2025 +0100 Rename IoGripperSensor.msg to IOGripperSensor.msg commit d0f726f Author: Dr. Denis <denis@stoglrobotics.de> Date: Thu Jan 2 12:11:02 2025 +0100 Update CMakeLists.txt commit a26a01a Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Sat Dec 21 19:45:36 2024 +0100 fix: standardize end-of-file formatting in control_msgs commit 92a3d47 Author: Manuel Muth <manuel.muth@stoglrobotics.de> Date: Wed Dec 11 10:11:30 2024 +0000 Update actions, add action for Gripper (open/close) and setting a configuration of a gripepr for gripper_io_controller commit 54c9bd0 Author: Dr. Denis <denis@b-robotized.com> Date: Fri Nov 29 10:33:29 2024 +0100 Added IOGripperController msgs.
diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
@@ -21,6 +21,8 @@ set(msg_files
   msg/DynamicJointState.msg
   msg/EtherCATState.msg
   msg/GenericHardwareState.msg
+  msg/GPIOToolControllerState.msg
+  msg/GPIOToolTransition.msg
   msg/GripperCommand.msg
   msg/HardwareDeviceDiagnostics.msg
   msg/HardwareDeviceStatus.msg
@@ -56,18 +58,21 @@ set(msg_files
 set(action_files
   action/ExecuteMotionPrimitiveSequence.action
   action/FollowJointTrajectory.action
+  action/GPIOToolCommand.action
   action/GripperCommand.action
   action/JointTrajectory.action
   action/FollowJointWrenchTrajectory.action
   action/ParallelGripperCommand.action
   action/PointHead.action
+  action/SetGPIOToolConfig.action
   action/SingleJointPosition.action
 )
 
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
   srv/SetOdometry.srv
+  srv/SetGPIOToolConfig.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/control_msgs/action/GPIOToolCommand.action b/control_msgs/action/GPIOToolCommand.action
@@ -0,0 +1,11 @@
+# This action interface is for commanding GPIOToolController to disengage or engage the tool.
+# The tools are going through the predefed transitions in  during disengaging and engaging processes.
+# Those are returned as feedback.
+
+bool engage # boolean value to indicate if the tool should engaged (true) or disengaged (false). true for open, false for close)
+---
+bool success  # true for performing the tool command successfully and vice versa
+string resulting_state_name  # name of the resulting state after the action is finished, empty when state cannot be determined
+string message #  informational, e.g. for success or error messages
+---
+GPIOToolTransition transition  # current transition of the gripper during enagagin/disengaging processes
diff --git a/control_msgs/action/SetGPIOToolConfig.action b/control_msgs/action/SetGPIOToolConfig.action
@@ -0,0 +1,12 @@
+# This action interface is defined for setting the configuration of the GPIOToolController.
+# In yaml file of the controller, the configurations are defined as a list of strings, for example a gripper might have the following configurations: ["narrow_objects", "wide_objects"], or a lift unit on a mobile base might have configurations like ["with_payload", "without_payload"].
+# The action request is called with the name of the configuration to be set.
+# During the configuration change, the gripper is going through a set of transitions, which are defined in the GPIOToolTransition message.
+
+string config_name # information about which configuration is being set for the tool
+---
+bool success  # indicate success for setting the configuration of the tool and vice versa
+string resulting_state_name  # name of the resulting configuration after the action is finished, empty when configuration cannot be determined
+string message  # informational, e.g. for success or error messages
+---
+GPIOToolTransition transition # current transition of the tool during reconfiguration process
diff --git a/control_msgs/msg/GPIOToolControllerState.msg b/control_msgs/msg/GPIOToolControllerState.msg
@@ -0,0 +1,7 @@
+# Name of the tool's disengaged or engaged state.
+# Note that a tool can have multiple "enagaged" states that can be detected by a sensor, for example: gripper is engaged (closed) with or without an object; a lift unit on a mobile base can be lifted with or without payload.
+string state
+# Name of the tool's current configuration.
+string configuration
+# Current transition if the tool is going through a state or configuration change.
+GPIOToolTransition current_transition
diff --git a/control_msgs/msg/GPIOToolTransition.msg b/control_msgs/msg/GPIOToolTransition.msg
@@ -0,0 +1,21 @@
+# The tools are going through the different transition phases when changing states or configurations.
+
+# The tool is in an idle state, not performing any action.
+uint8 IDLE=0
+# The tool is setting command interfaces to be able to perform state changes (disengaged or engaged), e.g., disabling breaks.
+uint8 SET_BEFORE_COMMAND=1
+# (optional) Check if before command is set correctly and confirmed by the sensors.
+uint8 CHECK_BEFORE_COMMAND=2
+# Set command to tool's command interfaces.
+uint8 SET_COMMAND=11
+# The controller is checking its current tool's state on state interfaces is set.
+uint8 CHECK_COMMAND=12
+# The tool is setting "after" commands when ostate changes (disengaged or engaged) is finished, e.g., engaging breaks.
+uint8 SET_AFTER_COMMAND=21
+# (optional) Check if after command is set correctly and confirmed by the sensors.
+uint8 CHECK_AFTER_COMMAND=22
+# The tool has halted due to an error or stop command.
+uint8 HALTED=100
+
+# state of the tool during transitions as defined above
+uint8 state
diff --git a/control_msgs/srv/SetGPIOToolConfig.srv b/control_msgs/srv/SetGPIOToolConfig.srv
@@ -0,0 +1,9 @@
+# This action interface is defined for setting the configuration of the GPIOToolController.
+# In yaml file of the controller, the configurations are defined as a list of strings, for example a gripper might have the following configurations: ["narrow_objects", "wide_objects"], or a lift unit on a mobile base might have configurations like ["with_payload", "without_payload"].
+# The action request is called with the name of the configuration to be set.
+# During the configuration change, the gripper is going through a set of transitions, which are defined in the GPIOToolTransition message.
+
+string config_name # information about which configuration is being set for tool
+---
+bool success  # indicate success for setting the configuration of the tool and vice versa
+string message  # informational, e.g. for success or error messages
