Add a minimalist dummy for simulating communication

.flake8

@@ -2,3 +2,6 @@
 [flake8]
 # Use black's line length (default 88) instead of the flake8 default of 79:
 max-line-length = 88
+
+per-file-ignores =
+    schunk_egu_egk_gripper_dummy/*.py:E203

.github/script/install_dependencies.sh

@@ -1,3 +1,19 @@
 #/usr/bin/bash
 cd $HOME
-apt-get install curl libcurl4-openssl-dev
+apt-get install -y curl libcurl4-openssl-dev
+
+# Python dependencies
+python_deps="fastapi uvicorn httpx requests coverage python-multipart"
+os_name=$(lsb_release -cs)
+
+case $os_name in
+  jammy) # Ubuntu 22.04
+    pip install --user $python_deps
+    ;;
+  kinetic) # Ubuntu 24.04
+    pip install --break-system-packages $python_deps
+    ;;
+  *) # Newer
+    pip install --break-system-packages $python_deps
+    ;;
+esac

.github/workflows/industrial_ci_rolling_action.yml

@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+          #- {ROS_DISTRO: rolling, ROS_REPO: testing}
           - {ROS_DISTRO: rolling, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:

.gitignore

@@ -2,3 +2,6 @@
 /install/
 /log/
 /.vscode
+
+# Ignore test coverage artifacts
+*.coverage

schunk_egu_egk_gripper_driver/launch/schunk.launch.py

@@ -27,7 +27,12 @@ def generate_launch_description():
         default_value="10.49.60.86",
         description="IP address of the gripper on your network",
     )
-    args = [ip]
+    port = DeclareLaunchArgument(
+        "port",
+        default_value="80",
+        description="TCP/IP port of the gripper",
+    )
+    args = [ip, port]
 
     container = Node(
         name="gripper_container",
@@ -44,9 +49,10 @@ def generate_launch_description():
                 package="schunk_egu_egk_gripper_driver",
                 plugin="SchunkGripperNode",
                 name="schunk_gripper_driver",
-                namespace="EGK_50_M_B",
+                namespace="",
                 parameters=[
                     {"IP": LaunchConfiguration("IP")},
+                    {"port": LaunchConfiguration("port")},
                     {"state_frq": 60.0},
                     {"rate": 10.0},
                     {"use_brk": False},

schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp

@@ -44,7 +44,10 @@ std::map<std::string, std::string> inst_param =
 //Initialize the ROS Driver
 SchunkGripperNode::SchunkGripperNode(const rclcpp::NodeOptions &options) :
     rclcpp::Node("schunk_gripper_driver", options),
-    Gripper(this->declare_parameter("IP", "0.0.0.0", parameter_descriptor("IP-Address of the gripper"))),
+    Gripper(
+        this->declare_parameter("IP", "0.0.0.0", parameter_descriptor("IP-Address of the gripper")),
+        this->declare_parameter("port", 80, parameter_descriptor("TCP/IP port of the gripper"))
+        ),
     limiting_rate(1000) //limiting_rate for loops
 {
     //Callback groups
@@ -1150,20 +1153,20 @@ void SchunkGripperNode::acknowledge_srv(const std::shared_ptr<Acknowledge::Reque
 
         if(check()) //TODO handshake
         {
-            res->acknowledged = true;
+            res->success = true;
             RCLCPP_WARN(this->get_logger(),"Acknowledged");
         }
         else
         {
-            res->acknowledged = false;
+            res->success = false;
             RCLCPP_WARN(this->get_logger(),"Acknowledge failed!");
         }
     }
     catch(const char* server_err)
     {
         connection_error = server_err ;
         RCLCPP_ERROR(this->get_logger(), "Failed Connection! %s", connection_error.c_str());
-        res->acknowledged = false;
+        res->success = false;
         RCLCPP_WARN(this->get_logger(), "Acknowledge failed!");
     }
     last_command = 0;

schunk_egu_egk_gripper_dummy/README.md

@@ -0,0 +1,25 @@
+# Schunk EGU/EGK Dummy
+A minimalist protocol simulator for system tests.
+
+## Dependencies
+
+```bash
+pip install --user fastapi uvicorn
+```
+
+## Getting started
+1. Start the dummy standalone with
+    ```bash
+    uvicorn schunk_egu_egk_gripper_dummy.main:server --port 8000 --reload
+    ```
+
+## Run tests locally
+
+```bash
+pip install --user pytest httpx coverage
+```
+
+```bash
+coverage run -m pytest tests/
+coverage report
+```

schunk_egu_egk_gripper_dummy/config/README.md

@@ -0,0 +1,22 @@
+# Reading system parameters from a gripper
+The system parameters are mentioned in the gripper's datasheet [Commissioning Instructions, Firmware 5.2 EGU with EtherNet/IP interface](https://stb.cloud.schunk.com/media/IM0046706.PDF).
+
+## Enums
+The easiest approach is reading enums from a web browser.
+Enums need to be accessed via the _DEC_ identifier.
+For instance, reading available error codes for the enum `HEX=0x0118` (`DEC=280`) would be
+```browser
+http://<gripper-ip>/adi/enum.json?inst=280
+```
+
+## Metadata
+
+```bash
+http://<gripper-ip>/adi/metadata.json?offset=0&count=300
+```
+
+## Data
+Use this script that reads the data directly from the gripper:
+```bash
+./read_system_parameters.py <gripper-ip>
+```

schunk_egu_egk_gripper_dummy/config/data.json

@@ -0,0 +1,170 @@
+{
+    "0x0040": [
+        "800000800000A25800000000D90000EF"
+    ],
+    "0x0048": [
+        "05000000000000000000000000000000"
+    ],
+    "0x0100": [
+        "0000"
+    ],
+    "0x0118": [
+        "EF"
+    ],
+    "0x0120": [
+        "00"
+    ],
+    "0x0128": [
+        "001F"
+    ],
+    "0x0130": [
+        "3238343A32363A3532203C307846343E206D6F766520626C6F636B6564206F6363757272656420696E2063757272656E74207374617465203420286170706C69636174696F6E5F73746174655F6D616368696E652E683A3A313334392900000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
+    ],
+    "0x0210": [
+        "00000000"
+    ],
+    "0x0230": [
+        "42263D87"
+    ],
+    "0x0238": [
+        "00000000"
+    ],
+    "0x0380": [
+        "0000"
+    ],
+    "0x03A8": [
+        "3F828F5C"
+    ],
+    "0x03B0": [
+        "000000000000000042A70000000000000000000000000000"
+    ],
+    "0x03B8": [
+        "BF251EB8BEAD844D423A7AE1448EC57E44E16CEE45066271"
+    ],
+    "0x0500": [
+        "12"
+    ],
+    "0x0528": [
+        "3F800000"
+    ],
+    "0x0540": [
+        "40A00000"
+    ],
+    "0x0580": [
+        "40000000"
+    ],
+    "0x0588": [
+        "42A60000"
+    ],
+    "0x05A8": [
+        "40A00000"
+    ],
+    "0x0600": [
+        "00000000"
+    ],
+    "0x0608": [
+        "42A60000"
+    ],
+    "0x0610": [
+        "00000000"
+    ],
+    "0x0628": [
+        "40B00000"
+    ],
+    "0x0630": [
+        "42E60000"
+    ],
+    "0x0650": [
+        "41B00000"
+    ],
+    "0x0658": [
+        "42960000"
+    ],
+    "0x0660": [
+        "43160000"
+    ],
+    "0x06A8": [
+        "00000000"
+    ],
+    "0x0800": [
+        "4199999A"
+    ],
+    "0x0808": [
+        "41F00000"
+    ],
+    "0x0810": [
+        "4199999A"
+    ],
+    "0x0818": [
+        "41E66666"
+    ],
+    "0x0820": [
+        "C0A00000"
+    ],
+    "0x0828": [
+        "42AA0000"
+    ],
+    "0x0840": [
+        "421EAE6D"
+    ],
+    "0x0870": [
+        "41BA5871"
+    ],
+    "0x0878": [
+        "41C04897"
+    ],
+    "0x0880": [
+        "41ACCCCD"
+    ],
+    "0x0888": [
+        "41D33333"
+    ],
+    "0x0890": [
+        "41ACCCCD"
+    ],
+    "0x0898": [
+        "41D33333"
+    ],
+    "0x08A0": [
+        "40A00000"
+    ],
+    "0x08A8": [
+        "42960000"
+    ],
+    "0x1000": [
+        "4E534E53303731390000000000000000"
+    ],
+    "0x1008": [
+        "31323334350000000000000000000000"
+    ],
+    "0x1020": [
+        "3B036ECF"
+    ],
+    "0x1100": [
+        "536570202034203230323300"
+    ],
+    "0x1108": [
+        "31383A30343A313400"
+    ],
+    "0x1110": [
+        "01F6"
+    ],
+    "0x1118": [
+        "352E322E302E38313839360000000000000000000000"
+    ],
+    "0x1120": [
+        "322E312E3100000000000000"
+    ],
+    "0x1130": [
+        "01"
+    ],
+    "0x1138": [
+        "0030114844C7"
+    ],
+    "0x1330": [
+        "01"
+    ],
+    "0x1400": [
+        "00000A69"
+    ]
+}