Add GPIO Tool controller - Controller that can manage different tools (grippers, lifts, forks) and states (automatic/manual) that can be set and determined using IOs (analog or digital)

[sachinkum0009]

This Pull Request introduces the IO Gripper Controller, an implementation for controlling a gripper using IOs. The controller supports functionalities such as open, close, and reconfigure, which can be triggered either through an Action Server or a Service Server. Additionally, the controller publishes the gripper’s state via joint_states and provides dynamic_interfaces to expose all command and state interfaces.

Features

• Action and Service Integration: Offers flexible control of gripper operations through action or service calls.
• State Publishing: Continuously publishes the gripper's joint states and dynamic interface values for real-time monitoring.

Interfaces

Published Topics

1. joint_states [sensor_msgs::msg::JointState]:

   • Publishes the state of the gripper joint and its configuration joint.

2. dynamic_interfaces [control_msgs::msg::DynamicInterfaceValues]:

   • Publishes all command and state interfaces related to the gripper's IOs and sensors.

This addition enables better modular control of robotic grippers, paving the way for seamless integration in complex robotic systems.

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[sachinkum0009]

This PR depends on this PR

[destogl]

Some major things to fix:

• [ ] fix compilation
• [ ] use a new handle_gripper_transition method for all transitions:
  • [ ] update how close data is stored — use struct and lambda function to manage this in the code to make the code shorter and nicer (see example for open ios)
  • [ ] update how parameters for configurations are used and stored using the new structure
  • [ ] use only one method with the same transitions, this means that all transitions should have before and after states, i.e., this should be added for configurations.
• [ ] Add support for also getting feedback from before and after states (if those exist, or are set)
• [ ] react by aborting action if timeout happens and HALTED is set
• [ ] Fill out the new IOGripperControllerState message with the names of the overall states we are in and transitions if we are in the transition at the moment. Check the message.

Let me know if you have any questions.

[destogl]

@Raivias thanks for your review. @sachinkum0009 and I have few more things to clean, some of those are related to your comments.

[mergify[bot]]

This pull request is in conflict. Could you fix it @sachinkum0009?

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[Nibanovic]

gpio controller won't compile with C++17 due to this type:

std::atomic<std::shared_ptr<std::string>> target_configuration_;

std_shared does nto have a trivial copy constructor which can be handled with C++17 atomic. In this PR, I've opted for using realtime_tools::RealtimeThreadSafeBox for access to the string.

COLCON_INGORE io_gripper_controller

Consider deleting io_gripper_controller from the repo, it is empty and this replaces it.

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.