qlin/sas_robot_driver_franka
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added homing service to franka hand node

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This commit is contained in:
qlin960618
2024-12-10 23:44:07 +09:00
parent 4f0c5fb97d
commit 787228d507
3 changed files with 49 additions and 10 deletions
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12
include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp
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@@ -56,7 +56,7 @@
#include <sas_robot_driver_franka_interfaces/srv/move.hpp>
#include <sas_robot_driver_franka_interfaces/msg/gripper_state.hpp>
#endif
#include <std_srvs/srv/trigger.hpp>
// using namespace DQ_robotics;
// using namespace Eigen;
@@ -99,19 +99,25 @@ private:
std::mutex gripper_in_use_;
Service<srv::Grasp>::SharedPtr grasp_srv_;
Service<srv::Move>::SharedPtr move_srv_;
Service<std_srvs::srv::Trigger>::SharedPtr homing_srv_;
public:
bool _grasp_srv_callback(
const std::shared_ptr<srv::Grasp::Request> req,
const std::shared_ptr<srv::Grasp::Request> &req,
std::shared_ptr<srv::Grasp::Response> res
);
bool _move_srv_callback(
const std::shared_ptr<srv::Move::Request> req,
const std::shared_ptr<srv::Move::Request> &req,
std::shared_ptr<srv::Move::Response> res
);
bool _home_srv_callback(
const std::shared_ptr<std_srvs::srv::Trigger::Request> &req,
std::shared_ptr<std_srvs::srv::Trigger::Response> res
);
EffectorDriverFrankaHand(const EffectorDriverFrankaHand&)=delete;
EffectorDriverFrankaHand()=delete;
~EffectorDriverFrankaHand();