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Revert robotiq_gripper_controller type until antipodal controller becomes available #48

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merged 2 commits into from
Mar 4, 2024
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Revert robotiq_gripper_controller type until antipodal controller becomes available #48

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1a8475a
Revert robotiq_gripper_controller type until antipodal controller bec…
adlarkin Mar 4, 2024
f73c0e5
init doubles to 0.0
adlarkin Mar 4, 2024
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2 changes: 1 addition & 1 deletion robotiq_description/config/robotiq_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ controller_manager:
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
robotiq_gripper_controller:
type: antipodal_gripper_action_controller/GripperActionController
type: position_controllers/GripperActionController
robotiq_activation_controller:
type: robotiq_controllers/RobotiqActivationController

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16 changes: 8 additions & 8 deletions robotiq_driver/include/robotiq_driver/hardware_interface.hpp
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Expand Up @@ -140,24 +140,24 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
std::atomic<bool> communication_thread_is_running_;
void background_task();

double gripper_closed_pos_;
double gripper_closed_pos_ = 0.0;

static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();

double gripper_position_;
double gripper_velocity_;
double gripper_position_command_;
double gripper_position_ = 0.0;
double gripper_velocity_ = 0.0;
double gripper_position_command_ = 0.0;

std::atomic<uint8_t> write_command_;
std::atomic<uint8_t> write_force_;
std::atomic<uint8_t> write_speed_;
std::atomic<uint8_t> gripper_current_state_;

double reactivate_gripper_cmd_;
double reactivate_gripper_cmd_ = 0.0;
std::atomic<bool> reactivate_gripper_async_cmd_;
double reactivate_gripper_response_;
double gripper_force_;
double gripper_speed_;
double reactivate_gripper_response_ = 0.0;
double gripper_force_ = 0.0;
double gripper_speed_ = 0.0;
std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
};

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