Decide Humble stalled and reached_goal states from the gripper object status - #101
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- move the parameter names, the object_status lookup and the goal verdict into object_status_goal - GripperActionController keeps only the goal handle and result plumbing - unit-test the verdict and the lookup on every distro Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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…mplate over its base - move GripperActionController's body into ObjectStatusController<Base>, header-only; GripperActionController is its parallel_gripper_controller instantiation - shim the goal container (RealtimeThreadSafeBox vs RealtimeBuffer) and the action result shape in ros2_control_compat, with fakes for both in its test - turn the controller tests into a typed suite each instantiation runs on its own Traits Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
…t status - add GripperCommandController, ObjectStatusController on Humble's stock position_controllers/GripperActionController - build and register it on Humble only, in place of the Jazzy controller - run the controller test suite on it, through a GripperCommand action client Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
…ntroller on Humble - switch the two Humble configs to the new controller type, with use_object_status on for the driver - give the Humble mock its own config, the driver's with the flag off, as on Jazzy - test the flag, the mock config and the launch's selection on both distros Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
- 8 ctest jobs; the ide-ccache preset inherits them Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Closes #96
Use the Robotiq gripper ObjectDetection to set the stalled/reached_goal status in ROS, rather than the velocity.
Humble implementation equivalent to the Jazzy/Lyrical implementation in #100. Commit 78ef351 first turns the Jazzy controller into
ObjectStatusController<Base>, a template over the stock base, with its tests as a typed suite; the large new files there are extractions (see the inline comments for the few deliberate changes). Humble'sGripperCommandControlleris then a second instantiation ongripper_controllers, and its test a secondTraits.