Configure gripper speed and effort with hardware interface

[pac48]

Many robot grippers support effort, position, and velocity controls. The current technique to set the velocity involves reading a hardcoded value from the URDF. This is problematic when the user wants to change the gripper velocity at runtime. After discussions in the ros2_control WG meeting, the best strategy to achieve this goal while allowing backporting to Humble is to add a new controller that specifically supports this and deprecate the old controller.

This PR adds a controller called antipodal_gripper_controllers which has parameters to optionally claim the hardware interfaces JOINT_NAME/gripper_effort and JOINT_NAME/gripper_speed, which will be used to set the gripper speed and effort if enabled.

This PR requires:

• depends on Add velocity to gripper command control_msgs#99

[moriarty]

  --- stderr: antipodal_gripper_controller
  In file included from /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/antipodal_gripper_controller/src/antipodal_gripper_action_controller.cpp:18:
  /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp:30:10: fatal error: control_msgs/action/antipodal_gripper_command.hpp: No such file or directory
     30 | #include "control_msgs/action/antipodal_gripper_command.hpp"
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

@pac48 can you include a temporary change on this pr to update the .repos file and test against your other PR.

https://github.com/ros-controls/ros2_controllers/blob/master/ros2_controllers-not-released.rolling.repos

I believe that should turn Rolling Semi-Binary Build - main / semi_binary / rolling main (pull_request) green.

Once your ros-controls/control_msgs#99 is approved an merged we'll need to update the .repos to pull in main from the messages until the next ros2 sync.

[MarqRazz]

I still need to pull this down and test but here are some high level suggestions.

[MarqRazz]

Do we need to define these again, they are already in the header antipodal_gripper_action_controller.hpp.

[pac48]

I think it is needed here because it is defined inside a class in antipodal_gripper_action_controller.hpp

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 lines in your changes are missing coverage. Please review.

Project coverage is 71.31%. Comparing base (0b43291) to head (114012b).
Report is 14 commits behind head on master.

❗ Current head 114012b differs from pull request most recent head ebb347f. Consider uploading reports for the commit ebb347f to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1002      +/-   ##
==========================================
- Coverage   71.86%   71.31%   -0.56%     
==========================================
  Files          41       41              
  Lines        3650     3374     -276     
  Branches     1794     1627     -167     
==========================================
- Hits         2623     2406     -217     
+ Misses        707      667      -40     
+ Partials      320      301      -19     

Flag	Coverage Δ
unittests	71.31% <0.00%> (-0.56%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...per_controllers/gripper_action_controller_impl.hpp	34.26% <0.00%> (-0.25%)	⬇️

... and 11 files with indirect coverage changes

[nbbrooks]

@bmagyar It looks like the renaming to parallel_gripper_controller has been addressed - can you resolve your request for changes?

[bmagyar]

Spotted one last piece of commented code, otherwise looks good!