From 37874af43b5e254e89a33c8140277d02a96d57db Mon Sep 17 00:00:00 2001 From: sachinkum0009 Date: Fri, 3 Jan 2025 02:21:47 +0100 Subject: [PATCH] user doc reformatted --- io_gripper_controller/doc/userdoc.rst | 145 +++++++++++++------------- 1 file changed, 73 insertions(+), 72 deletions(-) diff --git a/io_gripper_controller/doc/userdoc.rst b/io_gripper_controller/doc/userdoc.rst index 9fefd8566f..b51ae43000 100644 --- a/io_gripper_controller/doc/userdoc.rst +++ b/io_gripper_controller/doc/userdoc.rst @@ -5,13 +5,13 @@ io_gripper_controller ============================= -The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes `joint_states` of gripper and also `dynamic_interfaces` for all command and state interfaces. +The IO Gripper Controller provides implementation to control the gripper using IOs. It provides functionalities like open, close and reconfigure which can be used either though action server or service server and also publishes ``joint_states`` of gripper and also ``dynamic_interfaces`` for all command and state interfaces. Description of controller's interfaces --------------------------------------- -- `joint_states` [`sensor_msgs::msg::JointState`]: Publishes the state of gripper joint and configuration joint -- `dynamic_interfaces` [`control_msgs::msg::DynamicInterfaceValues`]: Publishes all command and state interface of the IOs and sensors of gripper. +- ``joint_states`` [``sensor_msgs::msg::JointState``]: Publishes the state of gripper joint and configuration joint +- ``dynamic_interfaces`` [``control_msgs::msg::DynamicInterfaceValues``]: Publishes all command and state interface of the IOs and sensors of gripper. Parameters @@ -27,73 +27,74 @@ This controller adds the following parameters: Example parameters .................... -``` -io_gripper_controller: - - ros__parameters: - - use_action: true - - open_close_joints: [gripper_clamp_jaw] - - open: - joint_states: [0.0] - set_before_command: - high: [EL2008/Bremse_WQG7] - low: [] - command: - high: [EL2008/Greiferteil_Oeffnen_WQG1] - low: [EL2008/Greiferteil_Schliessen_WQG2] - state: - high: [EL1008/Greifer_Geoeffnet_BG01] - low: [EL1008/Greifer_Geschloschen_BG02] - set_after_command: - high: [] - low: [EL2008/Bremse_WQG7] - - possible_closed_states: ['empty_close', 'full_close'] - - close: - set_before_command: - high: [EL2008/Bremse_WQG7] - low: [EL2008/Greiferteil_Oeffnen_WQG1] - command: - high: [EL2008/Greiferteil_Schliessen_WQG2] - low: [EL2008/Greiferteil_Oeffnen_WQG1] - state: - empty_close: - joint_states: [0.08] - high: [EL1008/Greifer_Geschloschen_BG02] - low: [EL1008/Bauteilabfrage_BG06] - set_after_command_high: [EL2008/Bremse_WQG7] - set_after_command_low: [EL2008/Bremse_WQG7] - full_close: - joint_states: [0.08] - high: [EL1008/Bauteilabfrage_BG06] +.. code-block:: yaml + + io_gripper_controller: + + ros__parameters: + + use_action: true + + open_close_joints: [gripper_clamp_jaw] + + open: + joint_states: [0.0] + set_before_command: + high: [EL2008/Bremse_WQG7] + low: [] + command: + high: [EL2008/Greiferteil_Oeffnen_WQG1] + low: [EL2008/Greiferteil_Schliessen_WQG2] + state: + high: [EL1008/Greifer_Geoeffnet_BG01] low: [EL1008/Greifer_Geschloschen_BG02] - set_after_command_high: [EL2008/Bremse_WQG7] - set_after_command_low: [EL2008/Bremse_WQG7] - - configurations: ["stichmass_125", "stichmass_250"] - configuration_joints: [gripper_gripper_distance_joint] - - configuration_setup: - stichmass_125: - joint_states: [0.125] - command_high: [EL2008/Stichmass_125_WQG5] - command_low: [EL2008/Stichmass_250_WQG6] - state_high: [EL1008/Stichmass_125mm_BG03] - state_low: [EL1008/Stichmass_250mm_BG04] - stichmass_250: - joint_states: [0.250] - command_high: [EL2008/Stichmass_250_WQG6] - command_low: [EL2008/Stichmass_125_WQG5] - state_high: [EL1008/Stichmass_250mm_BG04] - state_low: [EL1008/Stichmass_125mm_BG03] - - gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"] - sensors_interfaces: - hohenabfrage: - input: "EL1008/Hohenabfrage_BG5" - bauteilabfrage: - input: "EL1008/Bauteilabfrage_BG06" + set_after_command: + high: [] + low: [EL2008/Bremse_WQG7] + + possible_closed_states: ['empty_close', 'full_close'] + + close: + set_before_command: + high: [EL2008/Bremse_WQG7] + low: [EL2008/Greiferteil_Oeffnen_WQG1] + command: + high: [EL2008/Greiferteil_Schliessen_WQG2] + low: [EL2008/Greiferteil_Oeffnen_WQG1] + state: + empty_close: + joint_states: [0.08] + high: [EL1008/Greifer_Geschloschen_BG02] + low: [EL1008/Bauteilabfrage_BG06] + set_after_command_high: [EL2008/Bremse_WQG7] + set_after_command_low: [EL2008/Bremse_WQG7] + full_close: + joint_states: [0.08] + high: [EL1008/Bauteilabfrage_BG06] + low: [EL1008/Greifer_Geschloschen_BG02] + set_after_command_high: [EL2008/Bremse_WQG7] + set_after_command_low: [EL2008/Bremse_WQG7] + + configurations: ["stichmass_125", "stichmass_250"] + configuration_joints: [gripper_gripper_distance_joint] + + configuration_setup: + stichmass_125: + joint_states: [0.125] + command_high: [EL2008/Stichmass_125_WQG5] + command_low: [EL2008/Stichmass_250_WQG6] + state_high: [EL1008/Stichmass_125mm_BG03] + state_low: [EL1008/Stichmass_250mm_BG04] + stichmass_250: + joint_states: [0.250] + command_high: [EL2008/Stichmass_250_WQG6] + command_low: [EL2008/Stichmass_125_WQG5] + state_high: [EL1008/Stichmass_250mm_BG04] + state_low: [EL1008/Stichmass_125mm_BG03] + + gripper_specific_sensors: ["hohenabfrage", "bauteilabfrage"] + sensors_interfaces: + hohenabfrage: + input: "EL1008/Hohenabfrage_BG5" + bauteilabfrage: + input: "EL1008/Bauteilabfrage_BG06"