From 27c126d2a1fd2dea78162b0336a60d1ca17f28a1 Mon Sep 17 00:00:00 2001
From: Juancho <juanjqogm@gmail.com>
Date: Thu, 3 Aug 2023 19:20:24 +0900
Subject: [PATCH] Fixed bug in robot driver coppelia class

---
 cfg/sas_robot_driver_coppelia_franka_1.yaml     |  2 +-
 ...s_robot_driver_mirror_coppelia_franka_1.yaml | 10 ++++++++++
 include/sas_robot_driver_coppelia.h             |  2 +-
 ...robot_driver_mirror_coppelia_franka_1.launch | 17 +++++++++++++++++
 4 files changed, 29 insertions(+), 2 deletions(-)
 create mode 100644 cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml
 create mode 100644 launch/sas_robot_driver_mirror_coppelia_franka_1.launch

diff --git a/cfg/sas_robot_driver_coppelia_franka_1.yaml b/cfg/sas_robot_driver_coppelia_franka_1.yaml
index 84ad01e..ed114e4 100644
--- a/cfg/sas_robot_driver_coppelia_franka_1.yaml
+++ b/cfg/sas_robot_driver_coppelia_franka_1.yaml
@@ -2,7 +2,7 @@
 "robot_mode": "VelocityControl"
 "real_robot_topic_prefix": "franka_1"
 "vrep_port": 20011
-"mirror_mode": true
+"mirror_mode": false
 "thread_sampling_time_nsec": 4000000
 "q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
 "q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
diff --git a/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml b/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml
new file mode 100644
index 0000000..84ad01e
--- /dev/null
+++ b/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml
@@ -0,0 +1,10 @@
+"robot_ip_address": "10.198.113.159"
+"robot_mode": "VelocityControl"
+"real_robot_topic_prefix": "franka_1"
+"vrep_port": 20011
+"mirror_mode": true
+"thread_sampling_time_nsec": 4000000
+"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
+"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
+"vrep_robot_joint_names": ["Franka_joint1","Franka_joint2","Franka_joint3","Franka_joint4","Franka_joint5","Franka_joint6","Franka_joint7"]
+
diff --git a/include/sas_robot_driver_coppelia.h b/include/sas_robot_driver_coppelia.h
index 6b65491..cabdd9f 100644
--- a/include/sas_robot_driver_coppelia.h
+++ b/include/sas_robot_driver_coppelia.h
@@ -70,7 +70,7 @@ private:
 
     std::string robot_mode_ = std::string("VelocityControl");   // PositionControl
     bool mirror_mode_ = false;
-    double gain_ = 0.5;
+    double gain_ = 3.0;
     std::string real_robot_topic_prefix_;
 
     VectorXd current_joint_positions_;
diff --git a/launch/sas_robot_driver_mirror_coppelia_franka_1.launch b/launch/sas_robot_driver_mirror_coppelia_franka_1.launch
new file mode 100644
index 0000000..ad53f3f
--- /dev/null
+++ b/launch/sas_robot_driver_mirror_coppelia_franka_1.launch
@@ -0,0 +1,17 @@
+<launch>
+
+
+
+<node pkg="sas_robot_driver_franka" type="sas_robot_driver_coppelia_node" name="franka_1_sim">
+<rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml" command="load" 
+/>
+
+
+
+</node>
+
+
+
+
+
+</launch>