Update configuration for the examples package

schunk_egu_egk_gripper_examples/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.22)
+project(schunk_egu_egk_gripper_examples)
+
+# Set C++ standard to 17 if not set
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+# Compiler-specific options
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find required packages
+find_package(schunk_egu_egk_gripper_interfaces REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+
+#--------------------------------------------------------------------------------
+# Build
+#--------------------------------------------------------------------------------
+
+# Example
+add_executable(${PROJECT_NAME}
+  src/gripper_example.cpp
+)
+ament_target_dependencies(${PROJECT_NAME}
+  schunk_egu_egk_gripper_interfaces
+  rclcpp
+  sensor_msgs
+  control_msgs
+  rclcpp_action
+  diagnostic_msgs
+)
+
+#--------------------------------------------------------------------------------
+# Install
+#--------------------------------------------------------------------------------
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+#--------------------------------------------------------------------------------
+# Test
+#--------------------------------------------------------------------------------
+if(BUILD_TESTING)
+endif()
+
+# Ament package configuration
+ament_package()
+

schunk_egu_egk_gripper_examples/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>schunk_egu_egk_gripper_examples</name>
+  <version>1.0.0</version>
+  <description>Example node for Schunk's EGU/EGK driver interfaces</description>
+  <author>Viktora Krimer</author>
+  <author>Fabian Reinwald</author>
+  <maintainer email="[email protected]">Stefan Scherzinger</maintainer>
+
+  <license>todo</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>schunk_egu_egk_gripper_interfaces</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+  <depend>control_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>

schunk_egu_egk_gripper_examples/src/gripper_example.cpp

@@ -3,56 +3,59 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "rclcpp/wait_for_message.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
 #include <rclcpp/parameter.hpp>
 #include <rcl_interfaces/msg/parameter_event.hpp>
 #include "sensor_msgs/msg/joint_state.hpp"
-#include <diagnostic_updater/diagnostic_updater.hpp>
-
-#include "schunk_gripper/schunk_gripper_wrapper.hpp"
-
-#include "schunk_gripper/action/grip_with_velocity.hpp"
-#include "schunk_gripper/action/grip_with_position_and_velocity.hpp"
-#include "schunk_gripper/action/move_to_absolute_position.hpp"
-#include "schunk_gripper/action/move_to_relative_position.hpp"
-#include "schunk_gripper/msg/state.hpp"
-#include "schunk_gripper/srv/acknowledge.hpp"
-#include "schunk_gripper/srv/stop.hpp"
-#include "schunk_gripper/srv/fast_stop.hpp"
-#include "schunk_gripper/srv/prepare_for_shutdown.hpp"
-#include "schunk_gripper/srv/softreset.hpp"
-#include "schunk_gripper/action/release_workpiece.hpp"
-#include "schunk_gripper/srv/release_for_manual_movement.hpp"
-#include "schunk_gripper/srv/gripper_info.hpp"
+#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+
+#include "schunk_egu_egk_gripper_interfaces/msg/state.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/acknowledge.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/stop.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/fast_stop.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/prepare_for_shutdown.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/softreset.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/brake_test.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/change_ip.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/parameter_get.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/parameter_set.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/release_for_manual_movement.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/gripper_info.hpp"
+
+#include "schunk_egu_egk_gripper_interfaces/action/grip_with_velocity.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/grip_with_position_and_velocity.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/move_to_absolute_position.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/move_to_relative_position.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/release_workpiece.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/grip.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/grip_with_position.hpp"
 #include "control_msgs/action/gripper_command.hpp"
-#include "schunk_gripper/action/grip.hpp"
-#include "schunk_gripper/action/grip_with_position.hpp"
 
-schunk_gripper::msg::State state_msg;
+schunk_egu_egk_gripper_interfaces::msg::State state_msg;
 sensor_msgs::msg::JointState joint_state_msg;
 diagnostic_msgs::msg::DiagnosticArray diagnostic_msg;
 bool handshake;
 std::string name_space;
-
-    using Acknowledge = schunk_gripper::srv::Acknowledge;
-    using BrakeTest = schunk_gripper::srv::BrakeTest;
-    using Stop = schunk_gripper::srv::Stop;
-    using FastStop =  schunk_gripper::srv::FastStop;
-    using ReleaseForManualMovement = schunk_gripper::srv::ReleaseForManualMovement;
-    using Softreset = schunk_gripper::srv::Softreset;
-    using PrepareForShutdown = schunk_gripper::srv::PrepareForShutdown;
-    using GripperInfo= schunk_gripper::srv::GripperInfo;
-    using ChangeIp = schunk_gripper::srv::ChangeIp;
-    using ParameterGet = schunk_gripper::srv::ParameterGet;
-    using ParameterSet = schunk_gripper::srv::ParameterSet;
-
-    using MoveToAbsolutePosition = schunk_gripper::action::MoveToAbsolutePosition;
-    using MoveToRelativePosition = schunk_gripper::action::MoveToRelativePosition;
-    using GripWithVelocity = schunk_gripper::action::GripWithVelocity;
-    using Grip = schunk_gripper::action::Grip;
-    using GripWithPositionAndVelocity = schunk_gripper::action::GripWithPositionAndVelocity;
-    using GripWithPosition = schunk_gripper::action::GripWithPosition;
-    using ReleaseWorkpiece = schunk_gripper::action::ReleaseWorkpiece;
+    using State = schunk_egu_egk_gripper_interfaces::msg::State;
+
+    using Acknowledge = schunk_egu_egk_gripper_interfaces::srv::Acknowledge;
+    using BrakeTest = schunk_egu_egk_gripper_interfaces::srv::BrakeTest;
+    using Stop = schunk_egu_egk_gripper_interfaces::srv::Stop;
+    using FastStop =  schunk_egu_egk_gripper_interfaces::srv::FastStop;
+    using ReleaseForManualMovement = schunk_egu_egk_gripper_interfaces::srv::ReleaseForManualMovement;
+    using Softreset = schunk_egu_egk_gripper_interfaces::srv::Softreset;
+    using PrepareForShutdown = schunk_egu_egk_gripper_interfaces::srv::PrepareForShutdown;
+    using GripperInfo= schunk_egu_egk_gripper_interfaces::srv::GripperInfo;
+    using ChangeIp = schunk_egu_egk_gripper_interfaces::srv::ChangeIp;
+    using ParameterGet = schunk_egu_egk_gripper_interfaces::srv::ParameterGet;
+    using ParameterSet = schunk_egu_egk_gripper_interfaces::srv::ParameterSet;
+
+    using MoveToAbsolutePosition = schunk_egu_egk_gripper_interfaces::action::MoveToAbsolutePosition;
+    using MoveToRelativePosition = schunk_egu_egk_gripper_interfaces::action::MoveToRelativePosition;
+    using GripWithVelocity = schunk_egu_egk_gripper_interfaces::action::GripWithVelocity;
+    using Grip = schunk_egu_egk_gripper_interfaces::action::Grip;
+    using GripWithPositionAndVelocity = schunk_egu_egk_gripper_interfaces::action::GripWithPositionAndVelocity;
+    using GripWithPosition = schunk_egu_egk_gripper_interfaces::action::GripWithPosition;
+    using ReleaseWorkpiece = schunk_egu_egk_gripper_interfaces::action::ReleaseWorkpiece;
     using GripperCommand = control_msgs::action::GripperCommand;
 
 //Callback Functions
@@ -64,7 +67,7 @@ std::string name_space;
  * 
  * @param msg The shared pointer to the state message.
  */
-void stateCallback(const schunk_gripper::msg::State::SharedPtr msg)
+void stateCallback(const State::SharedPtr msg)
 {
     state_msg = *msg;
 }
@@ -508,7 +511,7 @@ int main(int argc, char** argv)
     auto control_client = rclcpp_action::create_client<GripperCommand>(node, name_space+"gripper_control");
 
     //TOPICS
-    auto state_sub = node->create_subscription<schunk_gripper::msg::State>(name_space+"state", 1, stateCallback);
+    auto state_sub = node->create_subscription<State>(name_space+"state", 1, stateCallback);
     auto joint_state_sub = node->create_subscription<sensor_msgs::msg::JointState>(name_space+"joint_states", 1, jointStateCallback);
     auto diagnostics_sub = node->create_subscription<diagnostic_msgs::msg::DiagnosticArray>("diagnostics", 1, diagnosticsCallback);