Merge pull request #3 from AcutronicRobotics/dashing

Dashing

gripper_minimal_service/scripts/gripper_minimal_client_v1.py

@@ -12,14 +12,13 @@
 node = rclpy.create_node("mara_minimal_client")
 
 # Create a client for service "/hrim_actuation_gripper_000000000004/goal"
-client = node.create_client(ControlFinger, "/hrim_actuation_gripper_000000000004/goal", qos_profile=qos_profile_services_default)
+client = node.create_client(ControlFinger, "/hrim_actuator_gripper_000000000004/fingercontrol", qos_profile=qos_profile_services_default)
 
 # Create request with the same type as the service, ControlFinger
 req = ControlFinger.Request()
 
 # Position range 0 - 0.87 rad
-# TODO: The range is wider for me (up to 9.0 sometimes)
-req.goal_linearposition = 0.87
+req.goal_angularposition = 0.
 
 # Wait for service to be avaiable before calling it
 while not client.wait_for_service(timeout_sec=1.0):

gripper_minimal_service/scripts/gripper_minimal_client_v2.py

@@ -11,7 +11,7 @@ def __init__(self):
         super().__init__('mara_minimal_client')
 
         # Create a client for service "/hrim_actuation_gripper_000000000004/goal"
-        self.client = self.create_client(ControlFinger, "/hrim_actuation_gripper_000000000004/goal")
+        self.client = self.create_client(ControlFinger, "/hrim_actuator_gripper_000000000004/fingercontrol")
 
         # Wait for service to be avaiable before calling it
         while not self.client.wait_for_service(timeout_sec=1.0):
@@ -21,7 +21,7 @@ def __init__(self):
         self.req = ControlFinger.Request()
 
     def send_request(self):
-        self.req.goal_linearposition = 0.87
+        self.req.goal_angularposition = 0.
         self.future = self.client.call_async(self.req)
 
 

gripper_minimal_service/src/gripper_minimal_client_v1.cpp

@@ -13,13 +13,13 @@ int main(int argc, char ** argv)
   auto node = rclcpp::Node::make_shared("mara_minimal_client");
 
   // Create a client for service "/hrim_actuation_gripper_000000000004/goal"
-  auto client = node->create_client<hrim_actuator_gripper_srvs::srv::ControlFinger>("/hrim_actuation_gripper_000000000004/goal");
+  auto client = node->create_client<hrim_actuator_gripper_srvs::srv::ControlFinger>("/hrim_actuator_gripper_000000000004/fingercontrol");
 
   // Create request with the same type as the service, ControlFinger
   auto request = std::make_shared<hrim_actuator_gripper_srvs::srv::ControlFinger::Request>();
 
   // Position range 0 - 0.87 rad
-  request->goal_linearposition = 0.87;
+  request->goal_angularposition = 0.;
 
   // Wait for service to be avaiable before calling it
   while (!client->wait_for_service(1s)) {

gripper_minimal_service/src/gripper_minimal_client_v2.cpp

@@ -10,7 +10,7 @@ class MinimalClient : public rclcpp::Node
     MinimalClient(): Node("gripper_minimal_client")
     {
       client = this->create_client<hrim_actuator_gripper_srvs::srv::ControlFinger>(
-        "/hrim_actuation_gripper_000000000004/goal");
+        "/hrim_actuator_gripper_000000000004/fingercontrol");
 
       // Wait for service to be avaiable before calling it
       while (!client->wait_for_service(1s)) {
@@ -29,7 +29,7 @@ class MinimalClient : public rclcpp::Node
 };
 
 void MinimalClient::send_request(){
-  request->goal_linearposition = 0.87;
+  request->goal_angularposition = 0.;;
   this->future = client->async_send_request(request);
 }
 

mara_minimal_publisher/scripts/mara_minimal_publisher_v1.py

@@ -13,7 +13,7 @@
 node = rclpy.create_node("mara_minimal_publisher")
 
 # Create a publisher on topic "/hrim_actuation_servomotor_000000000001/goal_axis1"
-pub = node.create_publisher(GoalRotaryServo, '/hrim_actuation_servomotor_000000000001/goal_axis1', qos_profile=qos_profile_sensor_data)
+pub = node.create_publisher(GoalRotaryServo, '/hrim_actuator_rotaryservo_000000000001/goal_axis1', qos_profile=qos_profile_sensor_data)
 
 # Create message with the same type as the topic, GoalRotaryServo
 msg = GoalRotaryServo()

mara_minimal_publisher/scripts/mara_minimal_publisher_v2.py

@@ -12,7 +12,7 @@ def __init__(self):
         super().__init__('mara_minimal_publisher')
 
         # Create a publisher on topic "/hrim_actuation_servomotor_000000000001/goal_axis1"
-        self.pub_ = self.create_publisher(GoalRotaryServo, '/hrim_actuation_servomotor_000000000001/goal_axis1',
+        self.pub_ = self.create_publisher(GoalRotaryServo, '/hrim_actuator_rotaryservo_000000000001/goal_axis1',
                                                 qos_profile=qos_profile_sensor_data)
 
         # Create message with the same type as the topic, GoalRotaryServo

mara_minimal_publisher/src/mara_minimal_publisher_v1.cpp

@@ -9,7 +9,7 @@ int main(int argc, char * argv[])
   auto node = rclcpp::Node::make_shared("mara_minimal_publisher");
 
   // Create a publisher on topic "/hrim_actuation_servomotor_000000000001/goal_axis1"
-  auto pub = node->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>("/hrim_actuation_servomotor_000000000001/goal_axis1", rmw_qos_profile_sensor_data);
+  auto pub = node->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>("/hrim_actuator_rotaryservo_000000000001/goal_axis1", rclcpp::SensorDataQoS());
 
   // Publishing rate of 1 Hz
   rclcpp::WallRate loop_rate(1);
@@ -29,7 +29,7 @@ int main(int argc, char * argv[])
     msg->control_type = 4; // Position and velocity control
 
     // Publish message!
-    pub->publish(msg);
+    pub->publish(*msg);
 
     // Spin not really needed here since we don't have callbacks
     rclcpp::spin_some(node);

mara_minimal_publisher/src/mara_minimal_publisher_v2.cpp

@@ -11,7 +11,7 @@ class MinimalPublisher : public rclcpp::Node
     count_(0)
     {
       // Create a publisher on topic "/hrim_actuation_servomotor_000000000001/goal_axis1"
-      pub_ = this->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>("/hrim_actuation_servomotor_000000000001/goal_axis1");
+      pub_ = this->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>("/hrim_actuator_rotaryservo_000000000001/goal_axis1", rclcpp::SensorDataQoS());
 
       // Publishing rate of 1 Hz using a wall timer
       timer_ = this->create_wall_timer(1s, std::bind(&MinimalPublisher::timer_callback, this));
@@ -30,7 +30,7 @@ class MinimalPublisher : public rclcpp::Node
       msg->control_type = 4; // Position and velocity control
 
       // Publish message!
-      pub_->publish(msg);
+      pub_->publish(*msg);
 
       // Log
       RCLCPP_INFO(this->get_logger(), "Iteration number %d", count_);

mara_minimal_subscriber/scripts/mara_minimal_subscriber_v1.py

@@ -16,7 +16,7 @@ def minimal_callback(msg):
 node = rclpy.create_node('mara_minimal_subscriber')
 
 # Subscribe to topic "/hrim_actuation_servomotor_000000000001/state_axis1" and link it to "minimal_callback" function
-node.create_subscription(StateRotaryServo, '/hrim_actuation_servomotor_000000000001/state_axis1', minimal_callback,
+node.create_subscription(StateRotaryServo, '/hrim_actuator_rotaryservo_000000000001/state_axis1', minimal_callback,
     qos_profile=qos_profile_sensor_data) # QoS profile for reading (joint) sensors
 
 # Spin listening to all subscribed topics

mara_minimal_subscriber/scripts/mara_minimal_subscriber_v2.py

@@ -12,7 +12,7 @@ def __init__(self):
         super().__init__('mara_minimal_subscriber')
 
         # Subscribe to topic "/hrim_actuation_servomotor_000000000001/state_axis1" and link it to "minimal_callback" function
-        self.create_subscription(StateRotaryServo, '/hrim_actuation_servomotor_000000000001/state_axis1',
+        self.create_subscription(StateRotaryServo, '/hrim_actuator_rotaryservo_000000000001/state_axis1',
             self.minimal_callback,
             qos_profile=qos_profile_sensor_data) # QoS profile for reading (joint) sensors
 

mara_minimal_subscriber/src/mara_minimal_subscriber_v1.cpp

@@ -17,9 +17,9 @@ int main(int argc, char * argv[])
 
   // Subscribe to topic "/hrim_actuation_servomotor_000000000001/state_axis1" and link it to "minimal_callback" function
   auto sub = node->create_subscription<hrim_actuator_rotaryservo_msgs::msg::StateRotaryServo>(
-    "/hrim_actuation_servomotor_000000000001/state_axis1",
-    minimal_callback,
-    rmw_qos_profile_sensor_data); // QoS profile for reading (joint) sensors
+    "/hrim_actuator_rotaryservo_000000000001/state_axis1",
+    rclcpp::SensorDataQoS(), // QoS profile for reading (joint) sensors
+    minimal_callback);
 
   // Spin listening to all subscribed topics
   rclcpp::spin(node);

mara_minimal_subscriber/src/mara_minimal_subscriber_v2.cpp

@@ -9,9 +9,9 @@ class MinimalSubscriber : public rclcpp::Node
     MinimalSubscriber(): Node("minimal_subscriber")
     {
       sub_ = this->create_subscription<hrim_actuator_rotaryservo_msgs::msg::StateRotaryServo>(
-        "/hrim_actuation_servomotor_000000000001/state_axis1",
-        std::bind(&MinimalSubscriber::minimal_callback, this, _1),
-        rmw_qos_profile_sensor_data);
+        "/hrim_actuator_rotaryservo_000000000001/state_axis1",
+        rclcpp::SensorDataQoS(),
+        std::bind(&MinimalSubscriber::minimal_callback, this, _1));
     }
 
   private: