qlin/sas_robot_driver_franka
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minor renaming of file and working coppelia node

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qlin960618
2024-08-16 11:30:58 +09:00
parent 94a32a0f0c
commit 900f6aa2e1
18 changed files with 504 additions and 404 deletions
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9
src/joint/sas_robot_driver_franka.cpp
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@@ -31,7 +31,7 @@
*/
#include <sas_robot_driver_franka/sas_robot_driver_franka.h>
#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
#include <sas_core/sas_clock.hpp>
#include <dqrobotics/utils/DQ_Math.h>
@@ -42,8 +42,8 @@ namespace sas
const std::shared_ptr<Node> &node,
const std::shared_ptr<qros::RobotDynamicsServer> &robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops
):
node_(node),
RobotDriver(break_loops),
node_(node),
configuration_(configuration),
robot_dynamic_provider_sptr_(robot_dynamic_provider),
break_loops_(break_loops)
@@ -55,11 +55,10 @@ namespace sas
//joint_positions_buffer_.resize(8,0);
//end_effector_pose_euler_buffer_.resize(7,0);
//end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
std::cout<<configuration.ip_address<<std::endl;
// std::cout<<configuration.ip_address<<std::endl;
RobotInterfaceFranka::MODE mode = RobotInterfaceFranka::MODE::None;
std::cout<<configuration.mode<<std::endl;
RCLCPP_INFO_STREAM(node_->get_logger(), "Mode: " << configuration_.mode);
if (configuration_.mode == std::string("None"))
{