interface named changes as per control_msgs

ros-controls · Jan 2, 2025 · d7394e4 · d7394e4
1 parent 485abbf
commit d7394e4
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 12 deletions.
diff --git a/io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp b/io_gripper_controller/include/io_gripper_controller/io_gripper_controller.hpp
@@ -33,12 +33,11 @@
 
 #include <sensor_msgs/msg/joint_state.hpp>
 
-#include "control_msgs/srv/set_config.hpp"
-#include "control_msgs/msg/io_gripper_sensor.hpp"
+#include "control_msgs/srv/set_io_gripper_config.hpp"
 #include "control_msgs/msg/interface_value.hpp"
 #include "control_msgs/msg/dynamic_interface_values.hpp"
-#include "control_msgs/action/gripper.hpp"
-#include "control_msgs/action/set_gripper_config.hpp"
+#include "control_msgs/action/io_gripper_command.hpp"
+#include "control_msgs/action/set_io_gripper_config.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
 namespace io_gripper_controller
@@ -193,14 +192,14 @@ class IOGripperController : public controller_interface::ControllerInterface
 
   using ControllerModeSrvType = std_srvs::srv::SetBool;
   using OpenCloseSrvType = std_srvs::srv::Trigger;
-  using ConfigSrvType = control_msgs::srv::SetConfig;
+  using ConfigSrvType = control_msgs::srv::SetIOGripperConfig;
   using JointStateMsg = sensor_msgs::msg::JointState;
   using EventStateMsg = sensor_msgs::msg::JointState;
   using ConfigJointMsg = sensor_msgs::msg::JointState;
   using DynInterfaceMsg = control_msgs::msg::DynamicInterfaceValues;
-  using GripperAction = control_msgs::action::Gripper;
+  using GripperAction = control_msgs::action::IOGripperCommand;
   using GoalHandleGripper = rclcpp_action::ServerGoalHandle<GripperAction>;
-  using GripperConfigAction = control_msgs::action::SetGripperConfig;
+  using GripperConfigAction = control_msgs::action::SetIOGripperConfig;
   using GoalHandleGripperConfig = rclcpp_action::ServerGoalHandle<GripperConfigAction>;
 
 protected:
@@ -322,10 +321,10 @@ class IOGripperController : public controller_interface::ControllerInterface
   rclcpp::CallbackGroup::SharedPtr open_service_callback_group_;
   rclcpp::CallbackGroup::SharedPtr close_service_callback_group_;
   rclcpp::CallbackGroup::SharedPtr reconfigure_service_callback_group_;
-  std::shared_ptr<control_msgs::action::Gripper_Feedback> gripper_feedback_;
-  std::shared_ptr<control_msgs::action::Gripper_Result> gripper_result_;
-  std::shared_ptr<control_msgs::action::SetGripperConfig_Feedback> gripper_config_feedback_;
-  std::shared_ptr<control_msgs::action::SetGripperConfig_Result> gripper_config_result_;
+  std::shared_ptr<control_msgs::action::IOGripperCommand_Feedback> gripper_feedback_;
+  std::shared_ptr<control_msgs::action::IOGripperCommand_Result> gripper_result_;
+  std::shared_ptr<control_msgs::action::SetIOGripperConfig_Feedback> gripper_config_feedback_;
+  std::shared_ptr<control_msgs::action::SetIOGripperConfig_Result> gripper_config_result_;
 
   /**
    * @brief Handles the goal for the gripper action.

diff --git a/io_gripper_controller/test/test_io_gripper_controller.hpp b/io_gripper_controller/test/test_io_gripper_controller.hpp
@@ -44,7 +44,7 @@ using JointStateMsg = io_gripper_controller::IOGripperController::JointStateMsg;
 using OpenCloseSrvType = io_gripper_controller::IOGripperController::OpenCloseSrvType;
 using ControllerModeSrvType = io_gripper_controller::IOGripperController::ControllerModeSrvType;
 using EventStateMsg = io_gripper_controller::IOGripperController::EventStateMsg;
-using ConfigSrvType = control_msgs::srv::SetConfig;
+using ConfigSrvType = io_gripper_controller::IOGripperController::ConfigSrvType; //  control_msgs::srv::SetIOGripperConfig;
 
 using GripperAction = io_gripper_controller::IOGripperController::GripperAction;
 using GoalHandleGripperAction = rclcpp_action::ClientGoalHandle<GripperAction>;