Skip to content

Changes to the msg definition #13

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: noetic-devel
Choose a base branch
from
Open

Changes to the msg definition #13

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion extend_gripper_control_lite6/scripts/gripper_control_digital.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down
2 changes: 1 addition & 1 deletion extend_gripper_control_xarm/scripts/gripper_control_digital.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand Down
30 changes: 15 additions & 15 deletions extend_gripper_control_xarm/scripts/gripper_control_inspire.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)

Expand Down
30 changes: 15 additions & 15 deletions extend_gripper_control_xarm/scripts/gripper_control_inspire_v2.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)

Expand Down
2 changes: 1 addition & 1 deletion extend_gripper_control_xarm/scripts/gripper_control_robotiq.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand Down
6 changes: 3 additions & 3 deletions extend_gripper_control_xarm/scripts/gripper_control_vacuum.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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()
Expand Down