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Added support for configuration file mode

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This commit is contained in:
Juancho
2023-06-07 13:36:54 +09:00
parent 5a54538279
commit 07112558fa
4 changed files with 24 additions and 31 deletions
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22
src/sas_robot_driver_franka.cpp
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@@ -17,8 +17,28 @@ namespace sas
end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
std::cout<<configuration.ip_address<<std::endl;
RobotInterfaceFranka::MODE mode = RobotInterfaceFranka::MODE::None;
std::cout<<configuration.mode<<std::endl;
if (configuration_.mode == std::string("None"))
{
mode = RobotInterfaceFranka::MODE::None;
}else if (configuration_.mode == std::string("PositionControl"))
{
mode = RobotInterfaceFranka::MODE::PositionControl;
}else if (configuration_.mode == std::string("VelocityControl"))
{
mode = RobotInterfaceFranka::MODE::VelocityControl;
}else
{
throw std::runtime_error(std::string("Wrong mode. ") + std::string("You used ") + configuration_.mode
+ std::string(". However, you must use None, PositionControl or VelocityControl"));
}
robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(configuration.ip_address,
RobotInterfaceFranka::MODE::VelocityControl, //None, PositionControl
mode, //None, PositionControl, VelocityControl
RobotInterfaceFranka::HAND::ON);
}