Addition of the vacuum grippers (only EPick at the moment)

robotiq_vacuum_grippers_control/CMakeLists.txt

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+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(robotiq_vacuum_grippers_control)
+find_package(catkin REQUIRED COMPONENTS robotiq_ethercat roscpp rospy message_generation)
+
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+###################################
+## catkin message generation     ##
+###################################
+add_message_files(
+  FILES
+  RobotiqVacuumGrippers_robot_input.msg
+  RobotiqVacuumGrippers_robot_output.msg
+)
+
+catkin_python_setup()
+
+generate_messages()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    CATKIN_DEPENDS rospy message_runtime roscpp robotiq_ethercat
+    INCLUDE_DIRS include
+)
+
+include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${robotiq_ethercat_INCLUDE_DIRS}
+)
+
+add_executable(robotiq_vacuum_grippers_ethercat_node
+  src/robotiq_vacuum_grippers_control/robotiq_vacuum_grippers_ethercat_node.cpp
+  src/robotiq_vacuum_grippers_control/robotiq_vacuum_grippers_ethercat_client.cpp
+)
+
+target_link_libraries(robotiq_vacuum_grippers_ethercat_node
+   ${robotiq_ethercat_LIBRARIES}
+   ${catkin_LIBRARIES}
+
+)
+
+add_dependencies(robotiq_vacuum_grippers_ethercat_node robotiq_vacuum_grippers_control_generate_messages_cpp)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
+
+install(PROGRAMS nodes/RobotiqVacuumGrippersSimpleController.py nodes/RobotiqVacuumGrippersStatusListener.py
+    nodes/RobotiqVacuumGrippersTcpNode.py nodes/RobotiqVacuumGrippersRtuNode.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+

robotiq_vacuum_grippers_control/include/robotiq_vacuum_grippers_control/robotiq_vacuum_grippers_ethercat_client.h

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+#ifndef ROBOTIQ_VACUUM_GRIPPERS_ETHERCAT_CLIENT_H
+#define ROBOTIQ_VACUUM_GRIPPERS_ETHERCAT_CLIENT_H
+
+#include <robotiq_vacuum_grippers_control/RobotiqVacuumGrippers_robot_output.h>
+#include <robotiq_vacuum_grippers_control/RobotiqVacuumGrippers_robot_input.h>
+
+// Forward declaration of EtherCatManager
+namespace robotiq_ethercat 
+{
+  class EtherCatManager;
+}
+
+namespace robotiq_vacuum_grippers_control
+{
+
+/**
+ * \brief This class provides a client for the EtherCAT manager object that
+ *        can translate robot input/output messages and translate them to
+ *        the underlying IO Map.
+ */
+
+class RobotiqVacuumGrippersEtherCatClient
+{
+public:
+  typedef robotiq_vacuum_grippers_control::RobotiqVacuumGrippers_robot_output GripperOutput;
+  typedef robotiq_vacuum_grippers_control::RobotiqVacuumGrippers_robot_input GripperInput;
+
+  /**
+   * \brief Constructs a control interface to a vacuum Robotiq gripper on
+   *        the given ethercat network and the given slave_no.
+   *
+   * @param[in] manager The interface to an EtherCAT network that the gripper
+   *                    is connected to.
+   *
+   * @param[in] slave_no The slave number of the gripper on the EtherCAT network
+   *                     (>= 1)
+   */
+  RobotiqVacuumGrippersEtherCatClient(robotiq_ethercat::EtherCatManager& manager, int slave_no);
+
+  /**
+   * \brief Write the given set of control flags to the memory of the gripper
+   * 
+   * @param[in] output The set of output-register values to write to the gripper
+   */
+  void writeOutputs(const GripperOutput& output);
+
+  /**
+   * \brief Reads set of input-register values from the gripper.
+   * \return The gripper input registers as read from the controller IOMap
+   */
+  GripperInput readInputs() const;
+
+  /**
+   * \brief Reads set of output-register values from the gripper.
+   * \return The gripper output registers as read from the controller IOMap
+   */
+  GripperOutput readOutputs() const;
+
+private:
+  robotiq_ethercat::EtherCatManager& manager_;
+  const int slave_no_;
+};
+
+}
+
+#endif

robotiq_vacuum_grippers_control/launch/robotiq_vacuum_grippers_ethercat.launch

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+<launch>
+  <arg name="gripper_name" default="gripper" />
+  <arg name="slave_number" default="1" />
+  <arg name="activate" default="True" />
+  <arg name="ifname" default="eth1" />
+
+  <node pkg="robotiq_vacuum_grippers_control" type="robotiq_vacuum_grippers_ethercat_node" name="gripper_server" output="screen">
+      <param name="ifname" type="str" value="$(arg ifname)" />
+      <param name="activate" type="bool" value="$(arg activate)" />
+      <param name="slave_number" type="int" value="$(arg slave_number)"/>
+
+      <remap from="output" to="/$(arg gripper_name)/output" />
+      <remap from="input" to="/$(arg gripper_name)/input" />
+    </node>
+</launch>

robotiq_vacuum_grippers_control/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b robotiq_vacuum_grippers_control
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

robotiq_vacuum_grippers_control/msg/RobotiqVacuumGrippers_robot_input.msg

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+uint8 gACT 
+uint8 gMOD 
+uint8 gGTO 
+uint8 gSTA 
+uint8 gOBJ 
+uint8 gFLT
+uint8 gPR
+uint8 gPO

robotiq_vacuum_grippers_control/msg/RobotiqVacuumGrippers_robot_output.msg

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+uint8 rACT
+uint8 rMOD
+uint8 rGTO
+uint8 rATR
+uint8 rPR
+uint8 rSP
+uint8 rFR
+

robotiq_vacuum_grippers_control/nodes/RobotiqVacuumGrippersRtuNode.py

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+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Robotiq, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Robotiq, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Copyright (c) 2012, Robotiq, Inc.
+# Revision $Id$
+
+"""@package docstring
+ROS node for controling a Robotiq vacuum gripper using the Modbus RTU protocol.
+
+The script takes as an argument the IP address of the gripper. It initializes a baseRobotiqVacuumGrippers object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'RobotiqVacuumGrippersRobotInput' topic using the 'RobotiqVacuumGrippers_robot_input' msg type. The node subscribes to the 'RobotiqVacuumGrippersRobotOutput' topic for new commands using the 'RobotiqVacuumGrippers_robot_output' msg type. Examples are provided to control the gripper (RobotiqVacuumGrippersSimpleController.py) and interpreting its status (RobotiqVacuumGrippersStatusListener.py).
+"""
+
+import roslib; roslib.load_manifest('robotiq_vacuum_grippers_control')
+roslib.load_manifest('robotiq_modbus_rtu')
+import rospy
+import robotiq_vacuum_grippers_control.baseRobotiqVacuumGrippers
+import robotiq_modbus_rtu.comModbusRtu
+import os, sys
+from robotiq_vacuum_grippers_control.msg import _RobotiqVacuumGrippers_robot_input  as inputMsg
+from robotiq_vacuum_grippers_control.msg import _RobotiqVacuumGrippers_robot_output as outputMsg
+
+def mainLoop(device):
+
+    #Gripper is a Vacuum with a TCP connection
+    gripper = robotiq_vacuum_grippers_control.baseRobotiqVacuumGrippers.robotiqbaseRobotiqVacuumGrippers()
+    gripper.client = robotiq_modbus_rtu.comModbusRtu.communication()
+
+    #We connect to the address received as an argument
+    gripper.client.connectToDevice(device)
+
+    rospy.init_node('robotiqVacuumGrippers')
+
+    #The Gripper status is published on the topic named 'RobotiqVacuumGrippersRobotInput'
+    pub = rospy.Publisher('RobotiqVacuumGrippersRobotInput', inputMsg.RobotiqVacuumGrippers_robot_input)
+
+    #The Gripper command is received from the topic named 'RobotiqVacuumGrippersRobotOutput'
+    rospy.Subscriber('RobotiqVacuumGrippersRobotOutput', outputMsg.RobotiqVacuumGrippers_robot_output, gripper.refreshCommand)
+
+
+    #We loop
+    while not rospy.is_shutdown():
+
+      #Get and publish the Gripper status
+      status = gripper.getStatus()
+      pub.publish(status)     
+
+      #Wait a little
+      #rospy.sleep(0.05)
+
+      #Send the most recent command
+      gripper.sendCommand()
+
+      #Wait a little
+      #rospy.sleep(0.05)
+
+if __name__ == '__main__':
+    try:
+        mainLoop(sys.argv[1])
+    except rospy.ROSInterruptException: pass