From 6dad1255b7dec17b4c32afe3de791dea2ba29562 Mon Sep 17 00:00:00 2001 From: nitish3693 Date: Tue, 30 Sep 2025 15:03:25 +0200 Subject: [PATCH] Changes to the msg definition --- .../scripts/gripper_control_digital.py | 2 +- .../scripts/gripper_control_digital.py | 2 +- .../scripts/gripper_control_inspire.py | 30 +++++++++---------- .../scripts/gripper_control_inspire_v2.py | 30 +++++++++---------- .../scripts/gripper_control_robotiq.py | 2 +- .../scripts/gripper_control_vacuum.py | 6 ++-- 6 files changed, 36 insertions(+), 36 deletions(-) diff --git a/extend_gripper_control_lite6/scripts/gripper_control_digital.py b/extend_gripper_control_lite6/scripts/gripper_control_digital.py index a4984505..674e5707 100755 --- a/extend_gripper_control_lite6/scripts/gripper_control_digital.py +++ b/extend_gripper_control_lite6/scripts/gripper_control_digital.py @@ -22,7 +22,7 @@ def initialize(): def dataCallback(msg): # Remaping Range [0,1] to [0,850] - if msg.gripperDigital.data: + if msg.gripper_digital.data: gripperControl = rospy.ServiceProxy(closeLiteGripperServiceName, xarm_msgs.srv.Call) gripperAction = gripperControl() else: diff --git a/extend_gripper_control_xarm/scripts/gripper_control_digital.py b/extend_gripper_control_xarm/scripts/gripper_control_digital.py index 60f4a39d..baf7beae 100755 --- a/extend_gripper_control_xarm/scripts/gripper_control_digital.py +++ b/extend_gripper_control_xarm/scripts/gripper_control_digital.py @@ -23,7 +23,7 @@ def initialize(): def dataCallback(msg): # Remaping Range [0,1] to [0,850] - gripper_value = 850 + (-850 * msg.gripperAnalog.data) + gripper_value = 850 + (-850 * msg.gripper_analog.data) gripper_control = rospy.ServiceProxy(gripperMoveServiceName, xarm_msgs.srv.GripperMove) gripper_action = gripper_control(gripper_value) diff --git a/extend_gripper_control_xarm/scripts/gripper_control_inspire.py b/extend_gripper_control_xarm/scripts/gripper_control_inspire.py index 04921d48..5c5a00ee 100755 --- a/extend_gripper_control_xarm/scripts/gripper_control_inspire.py +++ b/extend_gripper_control_xarm/scripts/gripper_control_inspire.py @@ -27,14 +27,14 @@ def initialize(): def dataCallback(msg): - if len(msg.handJointValues) > 0: + if len(msg.hand_joint_values) > 0: # Remaping Range [0,1] to [0,2000] and converting to high and low order bytes - lowOrderLittleFinger,highOrderLittleFinger = SplitDecimal(int(round(22.22*msg.handJointValues[0]))) - lowOrderRingFinger,highOrderRingFinger = SplitDecimal(int(round(22.22*msg.handJointValues[1]))) - lowOrderMiddleFinger,highOrderMiddleFinger = SplitDecimal(int(round(22.22*msg.handJointValues[2]))) - lowOrderIndexFinger,highOrderIndexFinger = SplitDecimal(int(round(22.22*msg.handJointValues[3]))) - lowOrderThumbFinger,highOrderThumbFinger = SplitDecimal(int(round(90.909*msg.handJointValues[4]))) - lowOrderThumbBaseFinger,highOrderThumbBaseFinger = SplitDecimal(int(round(31.746*msg.handJointValues[5]))) + lowOrderLittleFinger,highOrderLittleFinger = SplitDecimal(int(round(22.22*msg.hand_joint_values[0]))) + lowOrderRingFinger,highOrderRingFinger = SplitDecimal(int(round(22.22*msg.hand_joint_values[1]))) + lowOrderMiddleFinger,highOrderMiddleFinger = SplitDecimal(int(round(22.22*msg.hand_joint_values[2]))) + lowOrderIndexFinger,highOrderIndexFinger = SplitDecimal(int(round(22.22*msg.hand_joint_values[3]))) + lowOrderThumbFinger,highOrderThumbFinger = SplitDecimal(int(round(90.909*msg.hand_joint_values[4]))) + lowOrderThumbBaseFinger,highOrderThumbBaseFinger = SplitDecimal(int(round(31.746*msg.hand_joint_values[5]))) #gripper_modbus_service = rospy.ServiceProxy("xarm/getset_tgpio_modbus_data", xarm_msgs.srv.GetSetModbusData) #Commanding the Hand movement @@ -65,18 +65,18 @@ def dataCallback(msg): #Fetching the Gripper Response Joint States and Force pubGripperResponseData = GripperResponse() pubGripperResponseData.header = header - pubGripperResponseData.gripperType = ["rInspire"] - pubGripperResponseData.gripperJointInfo = GripperJointInfo() - pubGripperResponseData.gripperJointInfo.gripperJointValues = GetJointValues(gripperModbusService) + pubGripperResponseData.gripper_type = ["rInspire"] + pubGripperResponseData.gripper_joint_info = GripperJointInfo() + pubGripperResponseData.gripper_joint_info.gripper_joint_values = GetJointValues(gripperModbusService) fingerForceValues = GetForceValue(gripperModbusService) - pubGripperResponseData.gripperSensorInfo = [0] * len(fingerForceValues) + pubGripperResponseData.gripper_sensor_info = [0] * len(fingerForceValues) for i in range(len(fingerForceValues)): - pubGripperResponseData.gripperSensorInfo[i] = GripperSensorInfo() - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues = [0] - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues[0] = Vector3() - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues[0].x = fingerForceValues[i] + pubGripperResponseData.gripper_sensor_info[i] = GripperSensorInfo() + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values = [0] + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values[0] = Vector3() + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values[0].x = fingerForceValues[i] pubGripperResponse.publish(pubGripperResponseData) diff --git a/extend_gripper_control_xarm/scripts/gripper_control_inspire_v2.py b/extend_gripper_control_xarm/scripts/gripper_control_inspire_v2.py index da744650..00b52802 100755 --- a/extend_gripper_control_xarm/scripts/gripper_control_inspire_v2.py +++ b/extend_gripper_control_xarm/scripts/gripper_control_inspire_v2.py @@ -27,14 +27,14 @@ def initialize(): def dataCallback(msg): - if len(msg.handJointValues) > 0: + if len(msg.hand_joint_values) > 0: # Remaping Range [0,1] to [0,2000] and converting to high and low order bytes - lowOrderLittleFinger,highOrderLittleFinger = SplitDecimal(int(round(24.271*msg.handJointValues[0]))) - lowOrderRingFinger,highOrderRingFinger = SplitDecimal(int(round(24.271*msg.handJointValues[1]))) - lowOrderMiddleFinger,highOrderMiddleFinger = SplitDecimal(int(round(24.271*msg.handJointValues[2]))) - lowOrderIndexFinger,highOrderIndexFinger = SplitDecimal(int(round(24.271*msg.handJointValues[3]))) - lowOrderThumbFinger,highOrderThumbFinger = SplitDecimal(int(round(59.5268*msg.handJointValues[4]))) - lowOrderThumbBaseFinger,highOrderThumbBaseFinger = SplitDecimal(int(round(29.98589*msg.handJointValues[5]))) + lowOrderLittleFinger,highOrderLittleFinger = SplitDecimal(int(round(24.271*msg.hand_joint_values[0]))) + lowOrderRingFinger,highOrderRingFinger = SplitDecimal(int(round(24.271*msg.hand_joint_values[1]))) + lowOrderMiddleFinger,highOrderMiddleFinger = SplitDecimal(int(round(24.271*msg.hand_joint_values[2]))) + lowOrderIndexFinger,highOrderIndexFinger = SplitDecimal(int(round(24.271*msg.hand_joint_values[3]))) + lowOrderThumbFinger,highOrderThumbFinger = SplitDecimal(int(round(59.5268*msg.hand_joint_values[4]))) + lowOrderThumbBaseFinger,highOrderThumbBaseFinger = SplitDecimal(int(round(29.98589*msg.hand_joint_values[5]))) #gripper_modbus_service = rospy.ServiceProxy("xarm/getset_tgpio_modbus_data", xarm_msgs.srv.GetSetModbusData) #Commanding the Hand movement @@ -65,18 +65,18 @@ def dataCallback(msg): #Fetching the Gripper Response Joint States and Force pubGripperResponseData = GripperResponse() pubGripperResponseData.header = header - pubGripperResponseData.gripperType = ["rInspire"] - pubGripperResponseData.gripperJointInfo = GripperJointInfo() - pubGripperResponseData.gripperJointInfo.gripperJointValues = GetJointValues(gripperModbusService) + pubGripperResponseData.gripper_type = ["rInspire"] + pubGripperResponseData.gripper_joint_info = GripperJointInfo() + pubGripperResponseData.gripper_joint_info.gripper_joint_values = GetJointValues(gripperModbusService) fingerForceValues = GetForceValue(gripperModbusService) - pubGripperResponseData.gripperSensorInfo = [0] * len(fingerForceValues) + pubGripperResponseData.gripper_sensor_info = [0] * len(fingerForceValues) for i in range(len(fingerForceValues)): - pubGripperResponseData.gripperSensorInfo[i] = GripperSensorInfo() - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues = [0] - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues[0] = Vector3() - pubGripperResponseData.gripperSensorInfo[i].gripperforceSensorVectorValues[0].x = fingerForceValues[i] + pubGripperResponseData.gripper_sensor_info[i] = GripperSensorInfo() + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values = [0] + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values[0] = Vector3() + pubGripperResponseData.gripper_sensor_info[i].gripper_force_sensor_vector_values[0].x = fingerForceValues[i] pubGripperResponse.publish(pubGripperResponseData) diff --git a/extend_gripper_control_xarm/scripts/gripper_control_robotiq.py b/extend_gripper_control_xarm/scripts/gripper_control_robotiq.py index b4de2043..1becc956 100755 --- a/extend_gripper_control_xarm/scripts/gripper_control_robotiq.py +++ b/extend_gripper_control_xarm/scripts/gripper_control_robotiq.py @@ -22,7 +22,7 @@ def initialize(): def dataCallback(msg): # Remaping Range [0,1] to [0,255] - gripper_value = 255 * msg.gripperAnalog.data + gripper_value = 255 * msg.gripper_analog.data gripper_modbus_service = rospy.ServiceProxy(getsetTgpioModbusDataServiceName, xarm_msgs.srv.GetSetModbusData) gripper_modbus_data = GetSetModbusDataRequest() gripper_modbus_data.send_data = [0x09, 0x10, 0x03, 0xE8, 0x00, 0x03, 0x06, 0x09, 0x00, 0x00, gripper_value, 0xFF, 0xFF] diff --git a/extend_gripper_control_xarm/scripts/gripper_control_vacuum.py b/extend_gripper_control_xarm/scripts/gripper_control_vacuum.py index d9c6659e..beea7300 100755 --- a/extend_gripper_control_xarm/scripts/gripper_control_vacuum.py +++ b/extend_gripper_control_xarm/scripts/gripper_control_vacuum.py @@ -26,11 +26,11 @@ def dataCallback(msg): global isInitialValue, gripperValueReceived if(isInitialValue): isInitialValue = False - gripperValueReceived = msg.gripperDigital.data + gripperValueReceived = msg.gripper_digital.data serviceCall(gripperValueReceived) else: - if(gripperValueReceived != msg.gripperDigital.data): - gripperValueReceived = msg.gripperDigital.data + if(gripperValueReceived != msg.gripper_digital.data): + gripperValueReceived = msg.gripper_digital.data serviceCall(gripperValueReceived) header = Header()