Update configuration for the driver package

schunk_egu_egk_gripper_driver/CMakeLists.txt

@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.22)
+project(schunk_egu_egk_gripper_driver)
+
+# 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_library REQUIRED)
+find_package(schunk_egu_egk_gripper_interfaces REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+
+
+#--------------------------------------------------------------------------------
+# Build
+#--------------------------------------------------------------------------------
+
+add_library(${PROJECT_NAME} SHARED
+  src/schunk_gripper_wrapper.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  sensor_msgs
+  control_msgs
+  rclcpp_action
+  rclcpp_components
+  diagnostic_updater
+  diagnostic_msgs 
+  schunk_egu_egk_gripper_interfaces
+)
+target_link_libraries(${PROJECT_NAME}
+  Schunk::schunk_egu_egk_gripper_library
+)
+
+#--------------------------------------------------------------------------------
+# Install
+#--------------------------------------------------------------------------------
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME})
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+#--------------------------------------------------------------------------------
+# Test
+#--------------------------------------------------------------------------------
+if(BUILD_TESTING)
+endif()
+
+# Ament package configuration
+ament_package()
+

schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp

@@ -6,30 +6,30 @@
 #include "rclcpp_components/register_node_macro.hpp"
 #include <rclcpp/parameter.hpp>
 #include <rcl_interfaces/msg/parameter_event.hpp>
-#include "schunk_gripper/schunk_gripper_lib.hpp"
+#include "schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
+#include "control_msgs/action/gripper_command.hpp"
 #include <diagnostic_updater/diagnostic_updater.hpp>
 
-#include "schunk_gripper/action/grip_with_position.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/brake_test.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 "schunk_gripper/srv/change_ip.hpp"
-#include "control_msgs/action/gripper_command.hpp"
-#include "schunk_gripper/action/grip.hpp"
-#include "schunk_gripper/srv/parameter_get.hpp"
-#include "schunk_gripper/srv/parameter_set.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/grip_with_position.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/msg/state.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/acknowledge.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/brake_test.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/action/release_workpiece.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/srv/change_ip.hpp"
+#include "schunk_egu_egk_gripper_interfaces/action/grip.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/parameter_get.hpp"
+#include "schunk_egu_egk_gripper_interfaces/srv/parameter_set.hpp"
 
 extern  std::map<std::string, const char*> param_inst;
 extern std::map<std::string, std::string> inst_param;
@@ -39,26 +39,27 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     private:
 
     std::mutex lock_service_post;
-
-    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;
 
     //Flags
@@ -70,11 +71,11 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     void publishState();
 
     rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr     jointStatePublisher;
-    rclcpp::Publisher<schunk_gripper::msg::State>::SharedPtr       statePublisher;
+    rclcpp::Publisher<schunk_egu_egk_gripper_interfaces::msg::State>::SharedPtr       statePublisher;
     rclcpp::TimerBase::SharedPtr                                   publish_state_timer;
     rclcpp::TimerBase::SharedPtr                                   publish_joint_timer;
 
-    schunk_gripper::msg::State msg;
+    schunk_egu_egk_gripper_interfaces::msg::State msg;
     double state_frq;
     double j_state_frq;
     //Diagnostic updater
@@ -205,4 +206,4 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     rclcpp::Service<ChangeIp>::SharedPtr               change_ip_service;
 };
 
-#endif
+#endif

schunk_egu_egk_gripper_driver/package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>schunk_egu_egk_gripper_driver</name>
+  <version>1.0.0</version>
+  <description>ROS2 driver for Schunk's EGU/EGK grippers</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_library</depend>
+  <depend>schunk_egu_egk_gripper_interfaces</depend>
+  <depend>ament_index_cpp</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+  <depend>control_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
+
+

schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp

@@ -1,4 +1,4 @@
-#include "schunk_gripper/schunk_gripper_wrapper.hpp"
+#include "schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp"
 
  std::map<std::string, const char*> param_inst = 
  {
@@ -168,7 +168,7 @@ void SchunkGripperNode::advertiseTopics()
 {
     //Advertise state
     last_time = this->now(); //Initialize last_time 
-    statePublisher = this->create_publisher<schunk_gripper::msg::State>("state", 1);
+    statePublisher = this->create_publisher<State>("state", 1);
     publish_state_timer=this->create_wall_timer(std::chrono::duration<double>(1 / state_frq), std::bind(&SchunkGripperNode::publishState, this), messages_group);
 
     //Initialize diagnostics