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

control_msgs/CMakeLists.txt

@@ -16,6 +16,8 @@ set(msg_files
   msg/DynamicInterfaceGroupValues.msg
   msg/DynamicInterfaceValues.msg
   msg/DynamicJointState.msg
+  msg/GPIOToolControllerState.msg
+  msg/GPIOToolTransition.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
   msg/JointComponentTolerance.msg
@@ -43,17 +45,20 @@ 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/SetGPIOToolConfig.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

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

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

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

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

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