Add GPIO Tool controller - Controller that can manage different tools (grippers, lifts, forks) and states (automatic/manual) that can be set and determined using IOs (analog or digital)#1439

Draft

sachinkum0009 wants to merge 90 commits intoros-controls:masterfrom

b-robotized-forks:io_gripper_controller

Commits on Aug 16, 2025

io gripper controller added which provides functionality to control gripper using ios

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cleaned the code to impove the readabiligy and consistency

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using result from set_value

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Delete io_gripper_controller/include/io_gripper_controller/visibility_control.h
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Delete io_gripper_controller/doc/.gitkeep
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- removed visibility macros and used solution S1 for visibility macros

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Update io_gripper_controller/CMakeLists.txt

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Update io_gripper_controller/CMakeLists.txt

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removed interface package deps

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removed license from xml

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deps changed alphabetically

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author and maintainer list updated

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doc strings with descript of inputs and outputs updated

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pkg deps aranged alphabatically

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deps updated as per cmakelist

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OpenSrvType changed to OpenCloseSrvType

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opensrvtype changed to openclosesrvtype

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controllerStateMsg changed to jointStateMsg

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controllerStateMsg changed to jointStateMsg for other files

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InterfaceMsg renamed to DynInterfaceMsg

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InterfaceMsg renamed to DynInterfaceMsg for all files

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interface named changes as per control_msgs

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removed unused code

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- doc string added for rt buffer members

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removed unused code

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pre-commit changes

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user doc reformatted

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user doc updated

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Update io_gripper_controller/doc/userdoc.rst

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params updated

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copyright update

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sort headers alphabatically

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sort headers alphabatically and remove find_config state

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remove set_command state asset

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copyright update

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not_empty validation added

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not_empty validation added

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removed for merge upstream

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license update

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removed unused code

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Fix services QoS
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Update headers to `hpp` to avoid warnings.
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Remove confusing output when checking states.
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Correct output that was wrong.
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Update of gripper after testing with simulator.
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Code simplification and adding more user-readable state message.
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Apply suggestions from code review
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accepting upcoming changes

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compilation issue fixed

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changes to use the message IOGripperState intsead of enum

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Set ros2_control_test_assets as test_depend

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email updated

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Update io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp

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Apply suggestions from code review

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udpate handle_gripper_transisition

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fix logic for open gripper

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close state and open state code updated

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minor changes for timeout function

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timeout feature updated

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test yaml file added

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fixing header files

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fixing header files

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header files changed for unit tests

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header files changed for unit tests

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header files changed for unit tests

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Rewrote IO Gripper Controller to GPIO Tool Controller.
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Ignore all other packages.
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Fully working on the Gripper example.
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print warnings about states also on activation.
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Commits on Sep 1, 2025

Commits on Sep 2, 2025

Commits on Sep 3, 2025

Commits on Sep 5, 2025

Ignore configuration checks if none defined and distable js publisher is not required.
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Commits on Sep 12, 2025

Commits on Sep 16, 2025

Commits on Oct 5, 2025