added python interface additional type hint and misc

sas_robot_driver_franka/__init__.py

@@ -22,7 +22,7 @@ class FrankaGripperInterface:
     Non blocking interface to control the Franka gripper
     """
 
-    def __init__(self, node: Node, robot_prefix):
+    def __init__(self, node: Node, robot_prefix: str):
         self.last_message = None
         self.robot_prefix = robot_prefix
         self.node = node
@@ -45,7 +45,7 @@ class FrankaGripperInterface:
     def _default_spin_handler(self):
         rclpy.spin_once(self.node, timeout_sec=0.01)
 
-    def _is_service_ready(self, service: Client):
+    def _is_service_ready(self, service: Client) -> bool:
         try:
             # self.node.get_logger().info("Waiting for service: " + service.service_name)
             ret = service.wait_for_service(timeout_sec=0.1)
@@ -54,7 +54,7 @@ class FrankaGripperInterface:
             self.node.get_logger().info("Service error: " + service.service_name + ": " + str(e))
             return False
 
-    def is_enabled(self):
+    def is_enabled(self) -> bool:
         if self.state_width is None:
             return False
         if not self._is_service_ready(self.move_service):
@@ -69,7 +69,10 @@ class FrankaGripperInterface:
         self.state_temperature = msg.temperature
         self.state_is_grasped = msg.is_grasped
 
-    def home(self):
+    #############################################################################
+    # Public methods to control the gripper (actions)
+    #############################################################################
+    def home(self) -> rclpy.Future:
         """
         Reinitialize the gripper
         :return: None
@@ -78,7 +81,7 @@ class FrankaGripperInterface:
             raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
         self._home()
 
-    def move(self, width, speed=0):
+    def move(self, width, speed=0) -> rclpy.Future:
         """
         Move the gripper to a specific width
         :param width: width in meters
@@ -89,7 +92,7 @@ class FrankaGripperInterface:
             raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
         return self._move(width, speed)
 
-    def grasp(self, width, force=0, speed=0, epsilon_inner=0, epsilon_outer=0):
+    def grasp(self, width, force=0, speed=0, epsilon_inner=0, epsilon_outer=0) -> rclpy.Future:
         """
         Grasp an object with the gripper
         :param width:
@@ -103,30 +106,36 @@ class FrankaGripperInterface:
             raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
         return self._grasp(width, force, speed, epsilon_inner, epsilon_outer)
 
-    def get_max_width(self):
+    #############################################################################
+    # Public methods to get the gripper state, from ros topics
+    #############################################################################
+    def get_max_width(self) -> float:
         """ Get the maximum width of the gripper """
         if not self.is_enabled():
             raise Exception("Gripper is not enabled")
         return self.state_max_width
 
-    def get_width(self):
+    def get_width(self) -> float:
         """ Get the current width of the gripper """
         if not self.is_enabled():
             raise Exception("Gripper is not enabled")
         return self.state_width
 
-    def get_temperature(self):
+    def get_temperature(self) -> float:
         """ Get the temperature of the gripper """
         if not self.is_enabled():
             raise Exception("Gripper is not enabled")
         return self.state_temperature
 
-    def is_grasped(self):
+    def is_grasped(self) -> bool:
         """ Check if an object is grasped """
         if not self.is_enabled():
             raise Exception("Gripper is not enabled")
         return self.state_is_grasped
 
+    #############################################################################
+    # relating to action state
+    #############################################################################
     def is_moving(self):
         """ Check if the gripper is currently moving """
         return self._current_action == "moving"
@@ -156,6 +165,9 @@ class FrankaGripperInterface:
             else:
                 return True
 
+    ##############################################################################
+    # Public methods to get the result of the last action
+    ##############################################################################
     def get_result(self):
         """
         Get the result of the last action
@@ -198,7 +210,7 @@ class FrankaGripperInterface:
             rate.sleep()
         return self.get_result()
 
-    def _home(self):
+    def _home(self) -> rclpy.Future:
         self._current_action = "homing"
         # self.node.get_logger().info("Homing gripper")
         request = Trigger.Request()
@@ -206,7 +218,7 @@ class FrankaGripperInterface:
         self.service_future = self.home_service.call_async(request)
         return self.service_future
 
-    def _move(self, width, speed):
+    def _move(self, width, speed) -> rclpy.Future:
         self._current_action = "moving"
         # self.node.get_logger().info("Moving gripper to width: " + str(width) + " speed: " + str(speed))
         request = Move.Request()
@@ -216,7 +228,7 @@ class FrankaGripperInterface:
         self.service_future = self.move_service.call_async(request)
         return self.service_future
 
-    def _grasp(self, width, force, speed, epsilon_inner, epsilon_outer):
+    def _grasp(self, width, force, speed, epsilon_inner, epsilon_outer) -> rclpy.Future:
         self._current_action = "grasping"
         # self.node.get_logger().info("Grasping object at width: " + str(width) + " force: " + str(force) + " speed: " + str(speed))
         request = Grasp.Request()