int main( int argc, char **argv )
{
ros::init(argc, argv, "wsg_50");
ros::NodeHandle nh("~");
signal(SIGINT, sigint_handler);
std::string ip, protocol, com_mode;
int port, local_port;
double rate, grasping_force;
bool use_udp = false;
nh.param("ip", ip, std::string("192.168.1.20"));
nh.param("port", port, 1000);
nh.param("local_port", local_port, 1501);
nh.param("protocol", protocol, std::string(""));
nh.param("com_mode", com_mode, std::string(""));
nh.param("rate", rate, 1.0); // With custom script, up to 30Hz are possible
nh.param("grasping_force", grasping_force, 0.0);
if (protocol == "udp")
use_udp = true;
else
protocol = "tcp";
if (com_mode == "script")
g_mode_script = true;
else if (com_mode == "auto_update")
g_mode_periodic = true;
else {
com_mode = "polling";
g_mode_polling = true;
}
ROS_INFO("Connecting to %s:%d (%s); communication mode: %s ...", ip.c_str(), port, protocol.c_str(), com_mode.c_str());
// Connect to device using TCP/USP
int res_con;
if (!use_udp)
res_con = cmd_connect_tcp( ip.c_str(), port );
else
res_con = cmd_connect_udp(local_port, ip.c_str(), port );
if (res_con == 0 ) {
ROS_INFO("Gripper connection stablished");
// Services
ros::ServiceServer moveSS, graspSS, releaseSS, homingSS, stopSS, ackSS, incrementSS, setAccSS, setForceSS;
if (g_mode_script || g_mode_polling) {
moveSS = nh.advertiseService("move", moveSrv);
graspSS = nh.advertiseService("grasp", graspSrv);
releaseSS = nh.advertiseService("release", releaseSrv);
homingSS = nh.advertiseService("homing", homingSrv);
stopSS = nh.advertiseService("stop", stopSrv);
ackSS = nh.advertiseService("ack", ackSrv);
incrementSS = nh.advertiseService("move_incrementally", incrementSrv);
setAccSS = nh.advertiseService("set_acceleration", setAccSrv);
setForceSS = nh.advertiseService("set_force", setForceSrv);
}
// Subscriber
ros::Subscriber sub_position, sub_speed;
if (g_mode_script || g_mode_periodic)
sub_position = nh.subscribe("goal_position", 5, position_cb);
if (g_mode_script)
sub_speed = nh.subscribe("goal_speed", 5, speed_cb);
// Publisher
g_pub_state = nh.advertise<wsg_50_common::Status>("status", 1000);
g_pub_joint = nh.advertise<sensor_msgs::JointState>("joint_states", 10);
if (g_mode_script || g_mode_periodic)
g_pub_moving = nh.advertise<std_msgs::Bool>("moving", 10);
ROS_INFO("Ready to use. Homing and taring now...");
homing();
ros::Duration(0.5).sleep();
doTare();
if (grasping_force > 0.0) {
ROS_INFO("Setting grasping force limit to %5.1f", grasping_force);
setGraspingForceLimit(grasping_force);
}
ROS_INFO("Init done. Starting timer/thread with target rate %.1f.", rate);
std::thread th;
ros::Timer tmr;
if (g_mode_polling || g_mode_script)
tmr = nh.createTimer(ros::Duration(1.0/rate), timer_cb);
if (g_mode_periodic)
th = std::thread(read_thread, (int)(1000.0/rate));
ros::spin();
} else {
ROS_ERROR("Unable to connect, please check the port and address used.");
}
ROS_INFO("Exiting...");
g_mode_periodic = false;
g_mode_script = false;
g_mode_polling = false;
sleep(1);
cmd_disconnect();
return 0;
}
int main( int argc, char **argv )
{
ros::init(argc, argv, "wsg_50");
ros::NodeHandle nh;
std::string ip;
int port;
ROS_INFO("WSG 50 - ROS NODE");
nh.param("wsg_50_tcp/ip", ip, std::string("192.168.1.20"));
nh.param("wsg_50_tcp/port", port, 1000);
// Connect to device using TCP
if( cmd_connect_tcp( ip.c_str(), port ) == 0 )
{
ROS_INFO("TCP connection stablished");
// Services
ros::ServiceServer moveSS = nh.advertiseService("wsg_50/move", moveSrv);
ros::ServiceServer graspSS = nh.advertiseService("wsg_50/grasp", graspSrv);
ros::ServiceServer releaseSS = nh.advertiseService("wsg_50/release", releaseSrv);
ros::ServiceServer homingSS = nh.advertiseService("wsg_50/homing", homingSrv);
ros::ServiceServer stopSS = nh.advertiseService("wsg_50/stop", stopSrv);
ros::ServiceServer ackSS = nh.advertiseService("wsg_50/ack", ackSrv);
ros::ServiceServer incrementSS = nh.advertiseService("wsg_50/move_incrementally", incrementSrv);
ros::ServiceServer setAccSS = nh.advertiseService("wsg_50/set_acceleration", setAccSrv);
ros::ServiceServer setForceSS = nh.advertiseService("wsg_50/set_force", setForceSrv);
// Publisher
ros::Publisher state_pub = nh.advertise<wsg_50_common::Status>("wsg_50/status", 1000);
ros::Publisher joint_states_pub = nh.advertise<sensor_msgs::JointState>("/joint_states", 10);
ROS_INFO("Ready to use.");
homing();
ros::Rate loop_rate(1); // loop at 1Hz
while( ros::ok() ){
//Loop waiting for orders and updating the state
//Create the msg to send
wsg_50_common::Status status_msg;
//Get state values
const char * aux;
aux = systemState();
int op = getOpening();
int acc = getAcceleration();
int force = getGraspingForceLimit();
std::stringstream ss;
ss << aux;
status_msg.status = ss.str();
status_msg.width = op;
status_msg.acc = acc;
status_msg.force = force;
state_pub.publish(status_msg);
sensor_msgs::JointState joint_states;
joint_states.header.stamp = ros::Time::now();;
joint_states.header.frame_id = "wsg_50_gripper_base_link";
joint_states.name.push_back("wsg_50_gripper_base_joint_gripper_left");
joint_states.name.push_back("wsg_50_gripper_base_joint_gripper_right");
joint_states.position.resize(2);
joint_states.position[0] = -op/2000.0;
joint_states.position[1] = op/2000.0;
//joint_states.velocity.resize(2);
//joint_states.velocity[0];
//joint_states.velocity[1];
joint_states.effort.resize(2);
joint_states.effort[0] = force;
joint_states.effort[1] = force;
joint_states_pub.publish(joint_states);
loop_rate.sleep();
ros::spinOnce();
}
}else{
ROS_ERROR("Unable to connect via TCP, please check the port and address used.");
}
// Disconnect - won't be executed atm. as the endless loop in test()
// will never return.
cmd_disconnect();
return 0;
}
