Open 3D Engine ROS2 Gem API Reference 23.10.0
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Public Types | Public Member Functions | Static Public Attributes | List of all members
ROS2::GripperRequests Class Referenceabstract

#include <GripperRequestBus.h>

Inherits AZ::EBusTraits.

Public Types

using BusIdType = AZ::EntityId
 

Public Member Functions

virtual AZ::Outcome< void, AZStd::string > GripperCommand (float position, float maxEffort)=0
 
virtual AZ::Outcome< void, AZStd::string > CancelGripperCommand ()=0
 
virtual float GetGripperPosition () const =0
 
virtual float GetGripperEffort () const =0
 
virtual bool IsGripperNotMoving () const =0
 Get if the gripper is not moving (stalled).
 
virtual bool HasGripperReachedGoal () const =0
 Get if the gripper reached the set with GripperCommand position.
 
virtual bool HasGripperCommandBeenCancelled () const =0
 Get if the gripper command has been cancelled.
 

Static Public Attributes

static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById
 
static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single
 

Detailed Description

The interface allows to control gripper components through GripperCommand actions. It is a bus that allows communication between ROS2 GripperCommand Action server with the particular implementation of the gripper. It encapsulates GripperCommand commands and getters that allow to build the feedback and result messages.

See also
GripperCommand

Member Function Documentation

◆ CancelGripperCommand()

virtual AZ::Outcome< void, AZStd::string > ROS2::GripperRequests::CancelGripperCommand ( )
pure virtual

Cancel the current command to the gripper.

Returns
Nothing on success, error message if failed.

◆ GetGripperEffort()

virtual float ROS2::GripperRequests::GetGripperEffort ( ) const
pure virtual

Get the current effort of the gripper.

Returns
Position (gap size in meters) of the gripper.

◆ GetGripperPosition()

virtual float ROS2::GripperRequests::GetGripperPosition ( ) const
pure virtual

Get the current position of the gripper.

Returns
Position of the gripper.

◆ GripperCommand()

virtual AZ::Outcome< void, AZStd::string > ROS2::GripperRequests::GripperCommand ( float  position,
float  maxEffort 
)
pure virtual

Send new command to the gripper.

Parameters
positionposition of the gripper (as a gap size in meters) to be set, for vacuum/electromagnetic gripper it is 0 or 1.
maxEffortmaximum effort of the gripper to be set in Newtons.
Returns
Nothing on success, error message if failed.
The documentation for this class was generated from the following file: