Update messges to have better status from the gripper.

Author: destogl

control_msgs/CMakeLists.txt

@@ -26,6 +26,8 @@ set(msg_files
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
+  msg/IOGripperControllerState.msg
+  msg/IOGripperState.msg
   msg/JointComponentTolerance.msg
   msg/JointControllerState.msg
   msg/JointJog.msg

control_msgs/action/IOGripperCommand.action

@@ -3,24 +3,9 @@
 # The grippers are going through the different states during opening and closing process.
 # Those are returned as feedback.
 
-# The gripper is in an idle state, not performing any action.
-uint8 IDLE=0
-# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks.
-uint8 SET_BEFORE_COMMAND=1
-# The close command is sent to gripper on its command interfaces.
-uint8 CLOSE_GRIPPER=2
-# The controller is checking its current gripper's state on state interfaces.
-uint8 CHECK_GRIPPER_STATE=3
-# The open command is sent to gripper on its command interfaces.
-uint8 OPEN_GRIPPER=4
-# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks.
-uint8 SET_AFTER_COMMAND=5
-# The gripper has halted due to an error or stop command.
-uint8 HALTED=6
-
 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
+IOGripperState transition # state of the gripper during transition as defined above

control_msgs/action/SetIOGripperConfig.action

@@ -4,20 +4,10 @@
 # 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:
-# The reconfiguration process is idle, not performing any action.
-uint8 IDLE=0
-# Setting the command based on the configuration.
-uint8 SET_COMMAND=1
-# Checking the state after setting the command.
-uint8 CHECK_STATE=2
-
 
 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
+IOGripperState transition # state of the gripper during transition as defined above

control_msgs/msg/IOGripperControllerState.msg

@@ -0,0 +1,7 @@
+# Name of the gripper open close state. Note that it can have mutliple "closed" states. If empty, then transition is happening and check the state of the transition.
+string open_close
+IOGripperState open_close_transition
+
+# Name of the gripper's current configuration. If empty, then transition is happening and check the state of the transition.
+string configuration
+IOGripperState configuration_transition

control_msgs/msg/IOGripperState.msg

@@ -0,0 +1,21 @@
+# The grippers are going through the different states during opening, closing, and configuraiton chnages process.
+
+# The gripper is in an idle state, not performing any action.
+uint8 IDLE=0
+# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks.
+uint8 SET_BEFORE_COMMAND=1
+# (optional) Check if brfore command is set correctly and confirmed by the sensors.
+uint8 CHECK_BEFORE_COMMAND=2
+# Set command to gripper's command interfaces.
+uint8 SET_COMMAND=11
+# The controller is checking its current gripper's state on state interfaces.
+uint8 CHECK_COMMAND=12
+# The gripper is setting "after" commands when open or close process if 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 gripper has halted due to an error or stop command.
+uint8 HALTED=100
+
+# state of the gripper during transitions as defined above
+uint8 state