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Tool contact action #37

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Tool contact action #37

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6bf35ab
Added an action definition for use with the tool contact controller (…
URJala Jan 14, 2025
4e3127d
Added actions for TrajectoryUntil and ToolContact
URJala Jan 23, 2025
bc25294
rename constants and remove trajectory_until definition
URJala Feb 14, 2025
d9cd4b2
Apply suggestions from code review
URJala Feb 28, 2025
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12 changes: 11 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,10 @@ find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(control_msgs REQUIRED)


set(msg_files
msg/Analog.msg
Expand All @@ -25,6 +29,11 @@ set(srv_files
srv/SetForceMode.srv
)

set(action_files
action/ToolContact.action
action/TrajectoryUntil.action
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
Expand All @@ -33,7 +42,8 @@ endif()
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
DEPENDENCIES builtin_interfaces geometry_msgs
${action_files}
DEPENDENCIES builtin_interfaces geometry_msgs trajectory_msgs std_msgs control_msgs
ADD_LINTER_TESTS
)

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7 changes: 7 additions & 0 deletions action/ToolContact.action
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@

---
int32 SUCCESS=0
int32 PREEMPTED = -1
int32 ABORTED = -2
Comment on lines +3 to +5
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What is the intended use for those?

A general "has the action succeeded / canceled / aborted" is part of the action definition already. In the end a caller would want to know whether a tool contact was detected or not, right? Those cases would both fall under the term "action succeeded" from my point of view.

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Oh, I might not have thought that through all the way. Yeah, you are right that information would be nice to have.

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After looking through how the interface to the robot itself works, you are right that the preempted and aborted dont make sense, but a "not triggered" result also doesnt really make sense. Once tool contact has been activated it stays active until it either finds contact or is cancelled by a user, in which case the action should report either cancelled or aborted, in my opinion.

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hm, good point. Would we need a result at all, then?

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I guess not actually, the state of the action itself should be sufficient

int32 result
---
1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -16,6 +16,7 @@

<depend>builtin_interfaces</depend>
<depend>geometry_msgs</depend>
<depend>action_msgs</depend>

<exec_depend>rosidl_default_runtime</exec_depend>

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