bool setForceSrv(wsg_50_common::Conf::Request &req, wsg_50_common::Conf::Response &res)
{
setGraspingForceLimit(req.val);
return true;
}
int main( int argc, char **argv )
{
ros::init(argc, argv, "wsg_50");
ros::NodeHandle nh("~");
signal(SIGINT, sigint_handler);
double rate, grasping_force;
std::string device;
int bitrate;
nh.param("read_rate", rate, 30.0);
nh.param("grasping_force", grasping_force, 80.0);
nh.param("device", device, std::string("/dev/ttyUSB3"));
nh.param("bitrate", bitrate, 38400);
nh.param("use_fmf", use_fmf, true);
// Connect to device
int res_con;
ROS_INFO("Connecting to %s: (rs232) at %d ...", device.c_str(), bitrate);
res_con = cmd_connect_serial(device.c_str(), bitrate);
if (res_con == 0 ) {
ROS_INFO("Gripper connection stablished");
// Services
ros::ServiceServer moveSS, graspSS, releaseSS, homingSS, stopSS, ackSS, incrementSS, setAccSS, setForceSS;
ros::ServiceServer move_no_waitingSS, grasp_no_waitingSS, release_no_waitingSS,
homing_no_waitingSS, stop_no_waitingSS, setAcc_no_waitingSS,
setForce_no_waitingSS, setLimitsSS, clearLimitsSS, getLimitsSS;
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);
setAccSS = nh.advertiseService("set_acceleration", setAccSrv);
setForceSS = nh.advertiseService("set_force", setForceSrv);
move_no_waitingSS = nh.advertiseService("move_no_waiting", moveSrv_no_waiting);
grasp_no_waitingSS = nh.advertiseService("grasp_no_waiting", graspSrv_no_waiting);
release_no_waitingSS = nh.advertiseService("release_no_waiting", releaseSrv_no_waiting);
homing_no_waitingSS = nh.advertiseService("homing_no_waiting", homingSrv_no_waiting);
stop_no_waitingSS = nh.advertiseService("stop_no_waiting", stopSrv_no_waiting);
setAcc_no_waitingSS = nh.advertiseService("set_acceleration_no_waiting", setAccSrv_no_waiting);
setForce_no_waitingSS = nh.advertiseService("set_force_no_waiting", setForceSrv_no_waiting);
setLimitsSS = nh.advertiseService("set_soft_limits", setLimitsSrv);
clearLimitsSS = nh.advertiseService("clear_soft_limits", clearLimitsSrv);
getLimitsSS = nh.advertiseService("view_soft_limits", getLimitsSrv);
// Publisher
g_pub_state = nh.advertise<wsg_50_common::Status>("status", 1000);
g_pub_joint = nh.advertise<sensor_msgs::JointState>("joint_states", 10);
g_pub_moving = nh.advertise<std_msgs::Bool>("moving", 10);
ROS_INFO("Ready to use, homing now...");
homing();
if (grasping_force > 0.0) {
ROS_INFO("Setting grasping force limit to %5.1f", grasping_force);
setGraspingForceLimit(grasping_force);
}
if (use_fmf)
{
ROS_INFO("Force measure fingers data reading: ON");
ROS_INFO("Reading finger info (type 0 - generic, 1 - WSG-FMF) ...");
getFingerInfo(0, info_fingers[0]);
getFingerInfo(1, info_fingers[1]);
ROS_INFO("Finger 0 type %d: data size %d bytes", info_fingers[0].type, info_fingers[0].data_size);
ROS_INFO("Finger 1 type %d: data size %d bytes", info_fingers[1].type, info_fingers[1].data_size);
if (info_fingers[0].type != info_fingers[1].type)
info_fingers[0].type = info_fingers[1].type = 1;
}
else
{
ROS_INFO("Force measure fingers data reading: OFF");
info_fingers[0].type = info_fingers[1].type = 0;
}
ROS_INFO("Init done. Starting timer/thread with target rate %.1f.", rate);
std::thread th;
g_thread = true;
th = std::thread(read_thread, (int)(1000.0/rate));
ros::spin();
} else {
ROS_ERROR("Unable to connect, please check the port and address used.");
}
return 0;
}
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;
}
