rename controller

Signed-off-by: Paul Gesel <paulgesel@gmail.com>

gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp

@@ -44,7 +44,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
     get_node()->get_logger(),
     "[Deprecated]: the `position_controllers/GripperActionController` and "
     "`effort_controllers::GripperActionController` controllers are replaced by "
-    "'antipodal_gripper_controllers/GripperActionController' controller");
+    "'parallel_gripper_controllers/GripperActionController' controller");
   try
   {
     param_listener_ = std::make_shared<ParamListener>(get_node());

parallel_gripper_controller/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.16)
+project(parallel_gripper_controller LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+          -Werror=return-type -Werror=shadow -Werror=format)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  control_toolbox
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_action
+  realtime_tools
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+generate_parameter_library(parallel_gripper_action_controller_parameters
+  src/parallel_gripper_action_controller_parameters.yaml
+)
+
+add_library(parallel_gripper_action_controller SHARED
+        src/parallel_gripper_action_controller.cpp
+)
+target_compile_features(parallel_gripper_action_controller PUBLIC cxx_std_17)
+target_include_directories(parallel_gripper_action_controller PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/parallel_gripper_action_controller>
+)
+target_link_libraries(parallel_gripper_action_controller PUBLIC
+        parallel_gripper_action_controller_parameters
+)
+ament_target_dependencies(parallel_gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_load_parallel_gripper_action_controllers
+          test/test_load_parallel_gripper_action_controller.cpp
+  )
+  ament_target_dependencies(test_load_parallel_gripper_action_controllers
+    controller_manager
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_parallel_gripper_controller
+    test/test_parallel_gripper_controller.cpp
+  )
+  target_link_libraries(test_parallel_gripper_controller
+          parallel_gripper_action_controller
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/parallel_gripper_action_controller
+)
+install(
+  TARGETS
+        parallel_gripper_action_controller
+        parallel_gripper_action_controller_parameters
+  EXPORT export_parallel_gripper_action_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_parallel_gripper_action_controller HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

antipodal_gripper_controller/doc/userdoc.rst → parallel_gripper_controller/doc/userdoc.rst

@@ -1,11 +1,11 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/antipodal_gripper_controller/doc/userdoc.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/parallel_gripper_controller/doc/userdoc.rst
 
-.. _antipodal_gripper_controller_userdoc:
+.. _parallel_gripper_controller_userdoc:
 
-Antipodal Gripper Action Controller
+Parallel Gripper Action Controller
 -----------------------------------
 
-Controller for executing a ``AntipodalGripperCommand`` action for simple antipodal grippers.
+Controller for executing a ``ParallelGripperCommand`` action for simple parallel grippers.
 This controller supports grippers that offer position only control as well as grippers that allow configuring the velocity and effort.
 By default, the controller will only claim the `{joint}/position` interface for control.
 The velocity and effort interfaces can be optionally claimed by setting the `max_velocity_interface` and `max_effort_interface` parameter, respectively.

antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp → parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp

@@ -14,8 +14,8 @@
 
 /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian
 
-#ifndef ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_
-#define ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_
+#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_
+#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_
 
 // C++ standard
 #include <cassert>
@@ -27,26 +27,26 @@
 #include "rclcpp/rclcpp.hpp"
 
 // ROS messages
-#include "control_msgs/action/antipodal_gripper_command.hpp"
+#include "control_msgs/action/parallel_gripper_command.hpp"
 
 // rclcpp_action
 #include "rclcpp_action/create_server.hpp"
 
 // ros_controls
-#include "antipodal_gripper_controller/visibility_control.hpp"
+#include "parallel_gripper_controller/visibility_control.hpp"
 #include "controller_interface/controller_interface.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_server_goal_handle.h"
 
 // Project
-#include "antipodal_gripper_action_controller_parameters.hpp"
+#include "parallel_gripper_action_controller_parameters.hpp"
 
-namespace antipodal_gripper_action_controller
+namespace parallel_gripper_action_controller
 {
 /**
- * \brief Controller for executing a `AntipodalGripperCommand` action.
+ * \brief Controller for executing a `ParallelGripperCommand` action.
  *
  * \tparam HardwareInterface Controller hardware interface. Currently \p
  * hardware_interface::HW_IF_POSITION and \p
@@ -107,12 +107,12 @@ class GripperActionController : public controller_interface::ControllerInterface
   Commands command_struct_, command_struct_rt_;
 
 protected:
-  using GripperCommandAction = control_msgs::action::AntipodalGripperCommand;
+  using GripperCommandAction = control_msgs::action::ParallelGripperCommand;
   using ActionServer = rclcpp_action::Server<GripperCommandAction>;
   using ActionServerPtr = ActionServer::SharedPtr;
   using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
   using RealtimeGoalHandle =
-    realtime_tools::RealtimeServerGoalHandle<control_msgs::action::AntipodalGripperCommand>;
+    realtime_tools::RealtimeServerGoalHandle<control_msgs::action::ParallelGripperCommand>;
   using RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>;
   using RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr>;
 
@@ -136,7 +136,7 @@ class GripperActionController : public controller_interface::ControllerInterface
 
   RealtimeGoalHandleBuffer
     rt_active_goal_;  ///< Container for the currently active action goal, if any.
-  control_msgs::action::AntipodalGripperCommand::Result::SharedPtr pre_alloc_result_;
+  control_msgs::action::ParallelGripperCommand::Result::SharedPtr pre_alloc_result_;
 
   rclcpp::Duration action_monitor_period_;
 
@@ -167,8 +167,8 @@ class GripperActionController : public controller_interface::ControllerInterface
     double current_velocity);
 };
 
-}  // namespace antipodal_gripper_action_controller
+}  // namespace parallel_gripper_action_controller
 
-#include "antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp"
+#include "parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp"
 
-#endif  // ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_
+#endif  // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_

antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller_impl.hpp → parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp

@@ -14,16 +14,16 @@
 
 /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian, Stu Glaser
 
-#ifndef ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_
-#define ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_
+#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_
+#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_
 
-#include "antipodal_gripper_controller/antipodal_gripper_action_controller.hpp"
+#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp"
 
 #include <hardware_interface/types/hardware_interface_type_values.hpp>
 #include <memory>
 #include <string>
 
-namespace antipodal_gripper_action_controller
+namespace parallel_gripper_action_controller
 {
 
 void GripperActionController::preempt_active_goal()
@@ -83,7 +83,7 @@ rclcpp_action::GoalResponse GripperActionController::goal_callback(
 {
   if (goal_handle->command.position.size() != 1)
   {
-    pre_alloc_result_ = std::make_shared<control_msgs::action::AntipodalGripperCommand::Result>();
+    pre_alloc_result_ = std::make_shared<control_msgs::action::ParallelGripperCommand::Result>();
     pre_alloc_result_->state.position.resize(1);
     pre_alloc_result_->state.effort.resize(1);
     RCLCPP_ERROR(
@@ -332,15 +332,15 @@ controller_interface::CallbackReturn GripperActionController::on_activate(
   command_.initRT(command_struct_);
 
   // Result
-  pre_alloc_result_ = std::make_shared<control_msgs::action::AntipodalGripperCommand::Result>();
+  pre_alloc_result_ = std::make_shared<control_msgs::action::ParallelGripperCommand::Result>();
   pre_alloc_result_->state.position.resize(1);
   pre_alloc_result_->state.effort.resize(1);
   pre_alloc_result_->state.position[0] = command_struct_.position_cmd_;
   pre_alloc_result_->reached_goal = false;
   pre_alloc_result_->stalled = false;
 
   // Action interface
-  action_server_ = rclcpp_action::create_server<control_msgs::action::AntipodalGripperCommand>(
+  action_server_ = rclcpp_action::create_server<control_msgs::action::ParallelGripperCommand>(
     get_node(), "~/gripper_cmd",
     std::bind(
       &GripperActionController::goal_callback, this, std::placeholders::_1, std::placeholders::_2),
@@ -393,6 +393,6 @@ GripperActionController::GripperActionController()
 {
 }
 
-}  // namespace antipodal_gripper_action_controller
+}  // namespace parallel_gripper_action_controller
 
-#endif  // ANTIPODAL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_
+#endif  // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_

antipodal_gripper_controller/include/antipodal_gripper_controller/visibility_control.hpp → parallel_gripper_controller/include/parallel_gripper_controller/visibility_control.hpp

@@ -19,8 +19,8 @@
  * library cannot have, but the consuming code must have inorder to link.
  */
 
-#ifndef ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_
-#define ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_
+#ifndef PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_
+#define PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -53,4 +53,4 @@
 #define GRIPPER_ACTION_CONTROLLER_PUBLIC_TYPE
 #endif
 
-#endif  // ANTIPODAL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_
+#endif  // PARALLEL_GRIPPER_CONTROLLER__VISIBILITY_CONTROL_HPP_

antipodal_gripper_controller/package.xml → parallel_gripper_controller/package.xml

@@ -3,9 +3,9 @@
   href="http://download.ros.org/schema/package_format3.xsd"
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>antipodal_gripper_controller</name>
+  <name>parallel_gripper_controller</name>
   <version>2.32.0</version>
-  <description>The antipodal_gripper_controller package</description>
+  <description>The parallel_gripper_controller package</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
 
   <license>Apache License 2.0</license>

parallel_gripper_controller/ros_control_plugins.xml

@@ -0,0 +1,10 @@
+<library path="parallel_gripper_action_controller">
+
+  <class name="parallel_gripper_action_controller/GripperActionController"
+         type="parallel_gripper_action_controller::GripperActionController"
+         base_class_type="controller_interface::ControllerInterface">
+    <description>
+    </description>
+  </class>
+
+</library>

antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp → parallel_gripper_controller/src/parallel_gripper_action_controller.cpp

@@ -15,11 +15,11 @@
 /// \author Sachin Chitta
 
 // Project
-#include <antipodal_gripper_controller/antipodal_gripper_action_controller.hpp>
+#include <parallel_gripper_controller/parallel_gripper_action_controller.hpp>
 #include <hardware_interface/types/hardware_interface_type_values.hpp>
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  antipodal_gripper_action_controller::GripperActionController,
+        parallel_gripper_action_controller::GripperActionController,
   controller_interface::ControllerInterface)