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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14
src/sas_robot_driver_franka_node.cpp
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@@ -41,7 +41,7 @@
#include <sas_common/sas_common.hpp>
#include <sas_conversions/eigen3_std_conversions.hpp>
#include <sas_robot_driver/sas_robot_driver_ros.hpp>
#include <sas_robot_driver_franka/sas_robot_driver_franka.h>
#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
@@ -76,6 +76,15 @@ std::array<T, N> std_vec_to_std_array(const std::vector<T>& vector)
}
return array;
}
VectorXd std_vec_to_eigen_vector(const std::vector<double>& vector)
{
VectorXd eigen_vector(vector.size());
for(std::size_t i = 0; i < vector.size(); i++)
{
eigen_vector(i) = vector[i];
}
return eigen_vector;
}
int main(int argc, char **argv)
@@ -164,7 +173,8 @@ int main(int argc, char **argv)
robot_driver_franka_configuration,
&kill_this_process
);
//robot_driver_franka.set_joint_limits({qmin, qmax});
std::tuple<VectorXd, VectorXd> joint_limits = {std_vec_to_eigen_vector(robot_driver_ros_configuration.q_min), std_vec_to_eigen_vector(robot_driver_ros_configuration.q_max)};
robot_driver_franka -> set_joint_limits(joint_limits);
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS.");
sas::RobotDriverROS robot_driver_ros(node,
robot_driver_franka,