Squashed commit of the developmen on GpioToolController.

destogl · destogl · commit bd76ff774c2e · 2025-06-12T14:46:15.000+02:00
commit 6efde49 Author: Dr. Denis <denis.stogl@b-robotized.com> Date: Thu Jun 12 14:42:30 2025 +0200 Renamed IO Gripper Controller to GPIO tool controller. commit 6cb4c50 Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Mon Jan 20 08:47:28 2025 +0100 pre-commit fix commit 36d81f6 Author: Dr. Denis <denis@b-robotized.com> Date: Fri Jan 17 16:06:45 2025 +0100 Update messges to have better status from the gripper. commit 01bfd75 Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 9 23:09:44 2025 +0100 doc updated for states commit 90c1bea Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 9 23:02:51 2025 +0100 pre-commit fix commit 4007594 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 23:04:52 2025 +0100 configuration names modified Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit 22c0466 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 19:12:21 2025 +0100 configuration names modified Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit b5570d7 Author: Sachin Kumar <sachinkum123567@gmail.com> Date: Thu Jan 9 19:10:25 2025 +0100 Update code for states Co-authored-by: Dr. Denis <denis@stoglrobotics.de> commit 651b4ce Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Fri Jan 3 01:51:58 2025 +0100 removed whitespace line commit 7fc20db Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Thu Jan 2 22:45:50 2025 +0100 renamed interface names and added doc commit 5949676 Author: Dr. Denis <denis@stoglrobotics.de> Date: Thu Jan 2 12:11:18 2025 +0100 Rename IoGripperSensor.msg to IOGripperSensor.msg commit d0f726f Author: Dr. Denis <denis@stoglrobotics.de> Date: Thu Jan 2 12:11:02 2025 +0100 Update CMakeLists.txt commit a26a01a Author: sachinkum0009 <sachinkum123567@gmail.com> Date: Sat Dec 21 19:45:36 2024 +0100 fix: standardize end-of-file formatting in control_msgs commit 92a3d47 Author: Manuel Muth <manuel.muth@stoglrobotics.de> Date: Wed Dec 11 10:11:30 2024 +0000 Update actions, add action for Gripper (open/close) and setting a configuration of a gripepr for gripper_io_controller commit 54c9bd0 Author: Dr. Denis <denis@b-robotized.com> Date: Fri Nov 29 10:33:29 2024 +0100 Added IOGripperController msgs. commit fc9633c Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Sat Apr 12 20:44:46 2025 +0200 Update README.md to be consistent within ros-controls (ros-controls#184) commit b7d5cbc Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Thu Apr 3 17:12:29 2025 +0200 Add copyright owner (ros-controls#188) commit e408450 Author: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Date: Wed Apr 2 13:21:32 2025 +0200 Bump version of pre-commit hooks (ros-controls#185) commit 0c06cb3 Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Sat Mar 29 14:10:44 2025 +0100 Add stale workflow (ros-controls#183) commit cb4175e Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Sun Mar 16 22:57:01 2025 +0100 Update branch for downstream job (ros-controls#180) commit 0c71394 Author: Christoph Froehlich <christoph.froehlich@ait.ac.at> Date: Wed Mar 12 19:22:19 2025 +0000 6.0.0 commit 935b8b1 Author: Christoph Froehlich <christoph.froehlich@ait.ac.at> Date: Wed Mar 12 19:21:54 2025 +0000 Update changelog commit 51f9009 Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Wed Mar 12 20:18:38 2025 +0100 Cleanup duplicate entries in the msg definition (ros-controls#179) commit ad756b1 Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Date: Tue Mar 11 22:21:56 2025 +0100 Branch for jazzy (ros-controls#175)
diff --git a/.github/workflows/stale.yml b/.github/workflows/stale.yml
@@ -0,0 +1,27 @@
+name: 'Stale issues and PRs'
+on:
+  workflow_dispatch:
+  schedule:
+    # UTC noon every workday
+    - cron: '0 12 * * MON-FRI'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+    steps:
+      - uses: actions/stale@v9
+        with:
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          stale-issue-message: 'This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.'
+          close-issue-message: 'This issue was closed because it has been stalled for 45 days with no activity.'
+          stale-pr-message: 'This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.'
+          days-before-stale: 45
+          days-before-close: 45
+          days-before-pr-close: -1
+          exempt-all-milestones: true
+          exempt-issue-labels: good first issue,good second issue,persistent,release,roadmap,Epic
+          operations-per-run: 100
diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
@@ -18,6 +18,8 @@ set(msg_files
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
+  msg/GPIOToolControllerState.msg
+  msg/GPIOToolTransition.msg
   msg/JointComponentTolerance.msg
   msg/JointControllerState.msg
   msg/JointJog.msg
@@ -37,14 +39,17 @@ set(action_files
   action/ParallelGripperCommand.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
+  action/GPIOToolCommand.action
   action/JointTrajectory.action
   action/PointHead.action
+  action/SetGPIOToolConfig.action
   action/SingleJointPosition.action
 )
 
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
+  srv/SetGPIOToolConfig.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/control_msgs/action/GPIOToolCommand.action b/control_msgs/action/GPIOToolCommand.action
@@ -0,0 +1,10 @@
+# This action interface is for commanding GPIOToolController to disengage or engage the tool.
+# The tools are going through the predefed transitions in  during disengaging and engaging processes.
+# Those are returned as feedback.
+
+bool engage # boolean value to indicate if the tool should engaged (true) or disengaged (false). true for open, false for close)
+---
+bool success  # true for performing the tool command successfully and vice versa
+string message #  informational, e.g. for success or error messages
+---
+GPIOToolTransition transition  # current transition of the gripper during enagagin/disengaging processes
diff --git a/control_msgs/action/SetGPIOToolConfig.action b/control_msgs/action/SetGPIOToolConfig.action
@@ -0,0 +1,11 @@
+# This action interface is defined for setting the configuration of the GPIOToolController.
+# In yaml file of the controller, the configurations are defined as a list of strings, for example a gripper might have the following configurations: ["narrow_objects", "wide_objects"], or a lift unit on a mobile base might have configurations like ["with_payload", "without_payload"].
+# The action request is called with the name of the configuration to be set.
+# During the configuration change, the gripper is going through a set of transitions, which are defined in the GPIOToolTransition message.
+
+string config_name # information about which configuration is being set for the tool
+---
+bool success  # indicate success for setting the configuration of the tool and vice versa
+string message  # informational, e.g. for success or error messages
+---
+GPIOToolTransition transition # current transition of the tool during reconfiguration process
diff --git a/control_msgs/msg/GPIOToolControllerState.msg b/control_msgs/msg/GPIOToolControllerState.msg
@@ -0,0 +1,7 @@
+# Name of the tool's disengaged or engaged state.
+# Note that a tool can have multiple "enagaged" states that can be detected by a sensor, for example: gripper is engaged (closed) with or without an object; a lift unit on a mobile base can be lifted with or without payload.
+string state
+# Name of the tool's current configuration.
+string configuration
+# Current transition if the tool is going through a state or configuration change.
+GPIOToolTransition current_transition
diff --git a/control_msgs/msg/GPIOToolTransition.msg b/control_msgs/msg/GPIOToolTransition.msg
@@ -0,0 +1,21 @@
+# The tools are going through the different transition phases when changing states or configurations.
+
+# The tool is in an idle state, not performing any action.
+uint8 IDLE=0
+# The tool is setting command interfaces to be able to perform state changes (disengaged or engaged), e.g., disabling breaks.
+uint8 SET_BEFORE_COMMAND=1
+# (optional) Check if before command is set correctly and confirmed by the sensors.
+uint8 CHECK_BEFORE_COMMAND=2
+# Set command to tool's command interfaces.
+uint8 SET_COMMAND=11
+# The controller is checking its current tool's state on state interfaces is set.
+uint8 CHECK_COMMAND=12
+# The tool is setting "after" commands when ostate changes (disengaged or engaged) is finished, e.g., engaging breaks.
+uint8 SET_AFTER_COMMAND=21
+# (optional) Check if after command is set correctly and confirmed by the sensors.
+uint8 CHECK_AFTER_COMMAND=22
+# The tool has halted due to an error or stop command.
+uint8 HALTED=100
+
+# state of the tool during transitions as defined above
+uint8 state
diff --git a/control_msgs/msg/PidState.msg b/control_msgs/msg/PidState.msg
@@ -6,19 +6,15 @@ float64 error
 # derivative of error
 float64 error_dot
 
-# equals error
-float64 p_error
 # weighted integral of error
-float64 i_error
-# equals derivative of error
-float64 d_error
+float64 i_term
 
 # proportional gain
-float64 p_term
+float64 p_gain
 # integral gain
-float64 i_term
+float64 i_gain
 # derivative gain
-float64 d_term
+float64 d_gain
 # upper integral clamp.
 float64 i_max
 # lower integral clamp.
diff --git a/control_msgs/srv/SetGPIOToolConfig.srv b/control_msgs/srv/SetGPIOToolConfig.srv
@@ -0,0 +1,9 @@
+# This action interface is defined for setting the configuration of the GPIOToolController.
+# In yaml file of the controller, the configurations are defined as a list of strings, for example a gripper might have the following configurations: ["narrow_objects", "wide_objects"], or a lift unit on a mobile base might have configurations like ["with_payload", "without_payload"].
+# The action request is called with the name of the configuration to be set.
+# During the configuration change, the gripper is going through a set of transitions, which are defined in the GPIOToolTransition message.
+
+string config_name # information about which configuration is being set for tool
+---
+bool success  # indicate success for setting the configuration of the tool and vice versa
+string message  # informational, e.g. for success or error messages
