Control Industrial Robot Actuators in Real Time with ROS 2 Control and MoveIt 2

                      
                     
"""
Production implementation for controlling industrial robot actuators in real-time using ROS 2 Control and MoveIt 2.
Provides secure, scalable operations for robotic manipulation tasks.
"""
from typing import Dict, Any, List, Tuple
import os
import logging
import rclpy
from rclpy.node import Node
from rclpy.exceptions import ROSException
from std_msgs.msg import String
import time

# Configure logging
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """
    Configuration class for environment variables.
    """
    ros_namespace: str = os.getenv('ROS_NAMESPACE', 'robot_namespace')
    actuator_topic: str = os.getenv('ACTUATOR_TOPIC', '/robot/actuator_commands')

def validate_input(data: Dict[str, Any]) -> bool:
    """Validate request data.
    
    Args:
        data: Input to validate
    Returns:
        True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'command' not in data:
        raise ValueError('Missing command')
    if 'value' not in data:
        raise ValueError('Missing value')
    return True

def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input fields for safety.
    
    Args:
        data: Raw input data
    Returns:
        Sanitized data
    """
    return {key: str(value).strip() for key, value in data.items()}

class RobotController(Node):
    """
    Main orchestrator for controlling robot actuators.
    """
    def __init__(self):
        super().__init__('robot_controller')
        self.publisher = self.create_publisher(String, Config.actuator_topic, 10)

    def publish_command(self, command: str) -> None:
        """Publish commands to actuators.
        
        Args:
            command: Command string to send
        """
        msg = String()
        msg.data = command
        self.publisher.publish(msg)
        logger.info(f'Published command: {command}')

    def execute_command(self, command_data: Dict[str, Any]) -> None:
        """Execute a command after validation and publishing.
        
        Args:
            command_data: Data containing command information
        """ 
        try:
            sanitized_data = sanitize_fields(command_data)
            validate_input(sanitized_data)
            command = f"{sanitized_data['command']} {sanitized_data['value']}"
            self.publish_command(command)
        except ValueError as e:
            logger.error(f'Input validation error: {e}')
        except Exception as e:
            logger.error(f'Failed to execute command: {e}')

def main(args=None) -> None:
    """Main function to run the robot controller.
    """ 
    rclpy.init(args=args)
    robot_controller = RobotController()
    try:
        # Example command execution
        command_data = {'command': 'move', 'value': 'forward'}
        robot_controller.execute_command(command_data)
        rclpy.spin(robot_controller)
    except ROSException as e:
        logger.error(f'ROS error: {e}')
    except KeyboardInterrupt:
        logger.info('Shutting down...')
    finally:
        robot_controller.destroy_node()
        rclpy.shutdown()

if __name__ == '__main__':
    main()