Add support for more grippers, py3 compatability and code improvements

CMakeLists.txt

@@ -18,7 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -153,33 +153,11 @@ include_directories(
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS weiss_gripper_ieg76_030 weiss_gripper_ieg76_030_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+catkin_install_python(PROGRAMS src/weiss_gripper_ieg76/driver.py
+                               src/weiss_gripper_ieg76/test_client.py
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(DIRECTORY launch urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 #############
 ## Testing ##

README.md

@@ -1,5 +1,10 @@
 # weiss_gripper_ieg76
-This is the ROS package of the driver for the [Weiss Robotics gripper, model IEG 76-030](https://www.weiss-robotics.com/en/produkte/gripping-systems/integration-line-en/ieg-en/).
+This is the ROS package of the driver for several Weiss Robotics grippers:
+
+* [IEG 76-030](https://weiss-robotics.com/servo-electric/ieg-series/)
+* [IEG 55-020](https://weiss-robotics.com/servo-electric/ieg-series/)
+* [CRG 200-085](https://weiss-robotics.com/servo-electric/crg-series/)
+* [CRG 30-050](https://weiss-robotics.com/servo-electric/crg-series/)
 
  1. [Device Configurator Windows](#device-configurator-windows)
 	 1. [Installation](#installation)

package.xml

@@ -1,13 +1,11 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>weiss_gripper_ieg76</name>
   <version>0.0.0</version>
-  <description>This is the ros package of the driver for the Weiss Robotics gripper, model IEG 76-030.</description>
+  <description>This is the ros package of the driver for the Weiss Robotics gripper, model IEG
+    55-020/76-030 as well as CRG 30-050/200-085.</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
-  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
-  <maintainer email="[email protected]">lth-vd</maintainer>
+  <maintainer email="[email protected]">ipa-lth</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,33 +17,32 @@
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/weiss_gripper_ieg76_030</url> -->
+  <url type="website">http://www.ipa.fraunhofer.de</url>
 
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="[email protected]">Jane Doe</author> -->
+  <author email="[email protected]">lth-vd</author>
+  <author email="[email protected]">ipa-pgt</author>
 
 
+  <!-- Use buildtool_depend for build tool packages: -->
+  <buildtool_depend>catkin</buildtool_depend>
+
   <!-- The *_depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
+
   <!-- Use build_depend for packages you need at compile time: -->
   <build_depend>message_generation</build_depend>
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+
   <!-- Use run_depend for packages you need at runtime: -->
-  <run_depend>message_runtime</run_depend>
+  <exec_depend>message_runtime</exec_depend>
+
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
+
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>std_msgs</depend>
+  <depend>python-transitions</depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

setup.py

@@ -0,0 +1,13 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['weiss_gripper_ieg76'],
+    package_dir={'': 'src'},
+    requires=['rospy']
+)
+
+setup(**setup_args)