AGH-CEAI
diff --git a/‎.clang-format
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diff --git a/‎.cmake-format.py
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diff --git a/‎.pre-commit-config.yaml
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diff --git a/‎README.md
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diff --git a/‎robotiq_hande_driver/CHANGELOG.md
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diff --git a/‎robotiq_hande_driver/CMakeLists.txt
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diff --git a/‎robotiq_hande_driver/bringup/config/hande_controller.yaml
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@@ -0,0 +1,30 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+ColumnLimit: 100
+IndentWidth: 4
+
+AccessModifierOffset: -1
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: Empty
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+IndentPPDirectives: BeforeHash
+PenaltyBreakAssignment: 21
+
+SpaceBeforeParens: Custom
+SpaceBeforeParensOptions:
+  AfterControlStatements: false
+  AfterForeachMacros: false
+  AfterFunctionDeclarationName: false
+  AfterFunctionDefinitionName: false
+  AfterIfMacros: false
+  AfterOverloadedOperator: false
+  AfterPlacementOperator: true
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false
@@ -0,0 +1,6 @@
+with section("format"):  # noqa F821
+    line_width = 100
+    tab_size = 2
+    command_case = "lower"
+    max_subgroups_hwrap = 2
+    max_pargs_hwrap = 4
@@ -1,5 +1,6 @@
 devel/
 logs/
+log/
 build/
 bin/
 install/
@@ -1,22 +1,48 @@
 repos:
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.9.5
+    hooks:
+      - id: ruff
+        args:
+          - --fix
+          - --exit-non-zero-on-fix
+      - id: ruff-format
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.7
+    hooks:
+      - id: clang-format
+        types_or: [c++, c]
+        args:
+          - --style=file
+
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
       - id: check-added-large-files
+      - id: check-ast
       - id: check-case-conflict
+      - id: check-executables-have-shebangs
       - id: check-json
       - id: check-merge-conflict
       - id: check-symlinks
       - id: check-toml
       - id: check-xml
+      - id: check-yaml
       - id: debug-statements
       - id: destroyed-symlinks
       - id: detect-private-key
       - id: end-of-file-fixer
+      - id: fix-byte-order-marker
       - id: mixed-line-ending
       - id: pretty-format-json
       - id: trailing-whitespace
-      - id: check-yaml
 
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
 
@@ -0,0 +1,13 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+  - family-names: Aleksandrowicz
+    given-names: Maciej
+    orcid: https://orcid.org/0000-0003-3388-5653
+  - family-names: Klimek
+    given-names: Krzysztof
+    orcid: https://orcid.org/0009-0004-6749-1833
+title: "Robotiq Hand-E ROS 2 Driver"
+version: 0.1.0
+identifiers:
+date-released: 2025-03-18
@@ -1,28 +1,59 @@
 # robotiq_hande_driver
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
-Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) from the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework.
+Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) using the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/AGH-CEAI/robotiq_hande_description) package for URDF definitions. Originally developed for integration with Universal Robots e-Series (UR5e) and ROS 2 Humble, it is possible to modify this repository to fit your needs. **PRs are welcome!**
 
-Work is still in progress.
 
-[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+![Control preview](docs/gripper_control.webp)
 
 ---
 
-## Quick start
+## Quick Start
+
+### Connection Setup
+
+#### Without Physical Hardware
+* You are ready to go - just remember to pass the `use_fake_hardware:=true` argument.
+
+#### Modbus RTU
+* Connect the serial port to your system and locate the TTY device (typically `/dev/ttyX`).
+* You will need to configure the serial connection in your `.xacro.urdf` file ([example](https://github.com/AGH-CEAI/robotiq_hande_description/blob/humble/urdf/robotiq_hande_gripper.urdf.xacro) in `robotiq_hande_description`).
+
+#### Modbus TCP
+* You can create a local `TCP` <-> `Virtual Serial Port` server with the `socat` command.
+  * An example usage (in the form of a Python ROS 2 wrapper) can be found in `ur_robot_driver`'s [scripts/tool_communication.py](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/204e215c8a7371f6357e6a09f7e106364e566931/ur_robot_driver/scripts/tool_communication.py#L64).
+  * Example: `socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.2:54321`
+* For the UR's `ur_robot_driver`, the default path to the virtual serial port is `/tmp/ttyUR`.
+
 
-### Setup
+### Package setup
 ```bash
 cd ~/ceai_ws/src
 git clone git@github.com:AGH-CEAI/robotiq_hande_driver.git ./src
+vcs import src < src/robotiq_hande_driver/robotiq_hande_driver.repos &&
 colcon build --symlink-install --packages-select robotiq_hande_driver
 source ./install/local_setup.sh
 ```
+> [!NOTE]
+> **Configuration is split between two packages:**
+> * `robotiq_hande_description`: Hardware connection parameters are set in the URDF file. [Example config file](https://github.com/AGH-CEAI/robotiq_hande_description/blob/humble/urdf/robotiq_hande_gripper.urdf.xacro).
+> * `robotiq_hande_driver`: The controller configuration is set by launch parameters for the `controller_node`. [Example config file](robotiq_hande_driver/bringup/config/hande_controller.yaml).
 
-### Run
+
+### Launch preview
 ```bash
-ros2 run robotiq_hande_driver hande_driver
+ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_hardware:=true
+# In other terminal
+ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/GripperCommand \
+"command:
+  position: 0.0
+  max_effort: 0.0
+"
 ```
 
+### Examples
+**An example integration usage can be find** in the [AGH-CEAI/aegis_ros](https://github.com/AGH-CEAI/aegis_ros) repository.
 
 ---
 ## Development notes
@@ -33,6 +64,17 @@ This project uses various tools for aiding the quality of the source code. Curre
 pre-commit install
 ```
 
+### Test Serial Connection
+
+There is an additional test tool with hardcoded parameters to test the connection with the Hand-E without any ROS dependencies.
+Before build, change the hardcoded parameters in the beginning of the `robotiq_hande_driver/test/communication_test.cpp` file.
+
+To run test:
+```bash
+cd cd ~/ceai_ws/src/robotiq_hande_driver/build/robotiq_hande_driver/
+./communication_test
+```
+
 ---
 ## License
 This repository is licensed under the Apache 2.0, see LICENSE for details.
@@ -5,16 +5,16 @@ All notable changes to the `robotiq_hande_driver` package will be documented in
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## [Unreleased]
+## [0.1.0] - 2025-03-13
 
 ### Added
 
-### Changed
-
-### Deprecated
-
-### Removed
+* [PR-11](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/11) - Added automatic reconnection to Modbus during configuration.
+* [PR-7](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/7) - Integration of ModbusRTU communication with ros2_control Hardware Interface
+* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/2) - ModbusRTU communication
+* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/2) - Protocol abstraction
+* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/1) - Prepared ros2_control Hardware Interface.
 
 ### Fixed
 
-### Security
+* [PR-11](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/11) - Fixed an issue where the Modbus connection check always failed.
@@ -1,19 +1,71 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
 project(robotiq_hande_driver)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  # TODO(issue#5) Fix warnings to enable the -Werror flag
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+include(FindPkgConfig)
+pkg_check_modules(LIBMODBUS REQUIRED libmodbus)
+
+set(DEPENDS modbus)
+
+set(HW_IF_INCLUDE_DEPENDS
+    hardware_interface
+    pluginlib
+    rclcpp
+    rclcpp_lifecycle
+    rcpputils)
+
 find_package(ament_cmake REQUIRED)
 
-add_executable(hande_driver src/hande_driver.cpp)
-target_include_directories(hande_driver PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+foreach(dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
+  find_package(${dependency} REQUIRED)
+endforeach()
+
+add_library(
+  ${PROJECT_NAME} SHARED hardware/src/hande_hardware_interface.cpp hardware/src/application.cpp
+                         hardware/src/communication.cpp hardware/src/protocol_logic.cpp)
+
+target_link_libraries(${PROJECT_NAME} PUBLIC ${DEPENDS})
+
+# TODO(issue#8) Build the communication_test only with BUILD_TESTING flag
+add_executable(communication_test test/communication_test.cpp)
+target_link_libraries(communication_test ${catkin_LIBRARIES} ${DEPENDS})
+
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+target_include_directories(
+  robotiq_hande_driver PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
+                              $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(${PROJECT_NAME} PUBLIC ${HW_IF_INCLUDE_DEPENDS})
 
-install(TARGETS hande_driver
-  DESTINATION lib/${PROJECT_NAME})
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_plugin.xml)
+
+install(DIRECTORY hardware/include/ DESTINATION include/)
+install(DIRECTORY bringup DESTINATION share/${PROJECT_NAME})
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  # find_package(ament_cmake_pytest REQUIRED)
+  find_package(hardware_interface REQUIRED)
+
+  ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
+  target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
+
+  # TODO(issue#8) Build the communication_test only with BUILD_TESTING flag
+  # ament_add_gmock(application_test test/application_test.cpp )
+  # target_link_libraries(application_test ${PROJECT_NAME})
+endif()
 
+# EXPORTS
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS})
 ament_package()
@@ -0,0 +1,24 @@
+# This is an example configuration file for the controller_manager node.
+# YOU CAN NOT USE IT IN YOUR APPLICATION WITHOUT CHANGES
+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 10 # Hz
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      gripper_action_controller:
+        type: position_controllers/GripperActionController
+
+  gripper_action_controller:
+    ros__parameters:
+      action_monitor_rate: 20.0 # Hz
+      joint: $(var tf_prefix)robotiq_hande_left_finger_joint
+      max_effort: 10.0 # N
+      goal_tolerance: 0.01 # m
+      allow_stalling: false
+      stall_velocity_threshold: 0.001 #m/s
+      stall_timeout: 1.0 # s
+      state_interfaces:
+        - position
-Original file line number
+Diff line change
@@ @@ -1,5 +1,6 @@ @@
 devel/
 logs/
 +log/
 build/
 bin/
 install/