qlin/sas_robot_driver_franka
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fixed bug in robot driver coppelia class

Browse Source
This commit is contained in:
Juancho
2023-08-03 19:20:24 +09:00
parent 5e3a79a32a
commit 27c126d2a1
4 changed files with 29 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
cfg/sas_robot_driver_coppelia_franka_1.yaml
View File

@@ -2,7 +2,7 @@
"robot_mode": "VelocityControl" "robot_mode": "VelocityControl"
"real_robot_topic_prefix": "franka_1" "real_robot_topic_prefix": "franka_1"
"vrep_port": 20011 "vrep_port": 20011
"mirror_mode": true "mirror_mode": false
"thread_sampling_time_nsec": 4000000 "thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895] "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] "q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]

10
cfg/sas_robot_driver_mirror_coppelia_franka_1.yaml Normal file
View File

@@ -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"]

2
include/sas_robot_driver_coppelia.h
View File

@@ -70,7 +70,7 @@ private:
std::string robot_mode_ = std::string("VelocityControl"); // PositionControl std::string robot_mode_ = std::string("VelocityControl"); // PositionControl
bool mirror_mode_ = false; bool mirror_mode_ = false;
double gain_ = 0.5; double gain_ = 3.0;
std::string real_robot_topic_prefix_; std::string real_robot_topic_prefix_;
VectorXd current_joint_positions_; VectorXd current_joint_positions_;

17
launch/sas_robot_driver_mirror_coppelia_franka_1.launch Normal file
View File

@@ -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>