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PickNikRobotics / ros2_robotiq_gripper

BSD 3-Clause "New" or "Revised" License
56 stars 43 forks source link

Add force and velocity hardware interfaces #44

Closed pac48 closed 8 months ago

pac48 commented 9 months ago

This PR adds ros2_control command interfaces to configure the gripper velocity and max effort. The plan is to deprecate the current gripper controller and replace it with a new one that supports position, velocity, and effort commands.

moriarty commented 8 months ago

This PR #45 will fix the coverage build error.

codecov[bot] commented 8 months ago

Codecov Report

Attention: 434 lines in your changes are missing coverage. Please review.

Comparison is base (743d20f) 0.00% compared to head (79d0303) 20.29%. Report is 15 commits behind head on main.

Files Patch % Lines
robotiq_driver/src/default_driver.cpp 9.09% 120 Missing :warning:
robotiq_driver/src/hardware_interface.cpp 10.28% 70 Missing and 26 partials :warning:
robotiq_driver/src/fake/fake_driver.cpp 0.00% 35 Missing :warning:
robotiq_driver/src/default_serial.cpp 22.72% 32 Missing and 2 partials :warning:
...botiq_driver/tests/test_default_driver_factory.cpp 34.28% 0 Missing and 23 partials :warning:
robotiq_driver/src/default_driver_factory.cpp 26.66% 3 Missing and 19 partials :warning:
robotiq_driver/src/default_serial_factory.cpp 29.16% 0 Missing and 17 partials :warning:
..._controllers/src/robotiq_activation_controller.cpp 0.00% 15 Missing :warning:
robotiq_driver/src/data_utils.cpp 55.88% 3 Missing and 12 partials :warning:
...botiq_driver/tests/test_default_serial_factory.cpp 44.44% 0 Missing and 15 partials :warning:
... and 6 more
Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #44 +/- ## ========================================== + Coverage 0.00% 20.29% +20.29% ========================================== Files 5 20 +15 Lines 352 611 +259 Branches 0 250 +250 ========================================== + Hits 0 124 +124 + Misses 352 347 -5 - Partials 0 140 +140 ``` | [Flag](https://app.codecov.io/gh/PickNikRobotics/ros2_robotiq_gripper/pull/44/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=PickNikRobotics) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/PickNikRobotics/ros2_robotiq_gripper/pull/44/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=PickNikRobotics) | `20.29% <20.80%> (+20.29%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=PickNikRobotics#carryforward-flags-in-the-pull-request-comment) to find out more.

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