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[sas_robot_driver_franka] fix namespace change with some sas parents class

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This commit is contained in:
qlin960618
2024-12-16 16:22:53 +09:00
parent 787228d507
commit 8d29513a6b
2 changed files with 6 additions and 6 deletions
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2
include/sas_robot_driver_franka/sas_robot_driver_franka.hpp
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@@ -113,7 +113,7 @@ public:
VectorXd get_joint_velocities() override;
void set_target_joint_velocities(const VectorXd& desired_joint_velocities) override;
VectorXd get_joint_forces() override;
VectorXd get_joint_torques() override;
void connect() override;
void disconnect() override;

10
src/joint/sas_robot_driver_franka.cpp
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@@ -50,7 +50,7 @@ namespace sas
{
joint_positions_.resize(7);
joint_velocities_.resize(7);
joint_forces_.resize(7);
joint_torques_.resize(7);
//end_effector_pose_.resize(7);
//joint_positions_buffer_.resize(8,0);
//end_effector_pose_euler_buffer_.resize(7,0);
@@ -193,7 +193,7 @@ namespace sas
*/
void RobotDriverFranka::set_target_joint_velocities(const VectorXd &desired_joint_velocities)
{
desired_joint_velocities_ = desired_joint_velocities;
// desired_joint_velocities_ = desired_joint_velocities;
robot_driver_interface_sptr_->set_target_joint_velocities(desired_joint_velocities);
if(robot_driver_interface_sptr_->get_err_state()) {
RCLCPP_ERROR_STREAM(node_->get_logger(),
@@ -207,10 +207,10 @@ namespace sas
* @brief RobotDriverFranka::get_joint_forces
* @return
*/
VectorXd RobotDriverFranka::get_joint_forces()
VectorXd RobotDriverFranka::get_joint_torques()
{
joint_forces_ = robot_driver_interface_sptr_->get_joint_forces();
return joint_forces_;
joint_torques_ = robot_driver_interface_sptr_->get_joint_forces();
return joint_torques_;
}
}