qlin/sas_robot_driver_franka
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driver and hand tested successful.. next is coppeliamirror node

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This commit is contained in:
qlin960618
2024-08-15 20:19:28 +09:00
parent 058c123170
commit 94a32a0f0c
69 changed files with 89 additions and 12379 deletions
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11
src/joint/sas_robot_driver_franka.cpp
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@@ -40,12 +40,12 @@ namespace sas
{
RobotDriverFranka::RobotDriverFranka(
const std::shared_ptr<Node> &node,
qros::RobotDynamicsServer* robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops
const std::shared_ptr<qros::RobotDynamicsServer> &robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops
):
node_(node),
RobotDriver(break_loops),
configuration_(configuration),
robot_dynamic_provider_(robot_dynamic_provider),
robot_dynamic_provider_sptr_(robot_dynamic_provider),
break_loops_(break_loops)
{
joint_positions_.resize(7);
@@ -93,7 +93,7 @@ namespace sas
Vector3d force, torque;
std::tie(force, torque) = robot_driver_interface_sptr_->get_stiffness_force_torque();
const auto pose = robot_driver_interface_sptr_->get_stiffness_pose();
robot_dynamic_provider_->publish_stiffness(pose, force, torque);
robot_dynamic_provider_sptr_->publish_stiffness(pose, force, torque);
}
@@ -151,6 +151,11 @@ namespace sas
"error on:"+robot_driver_interface_sptr_->get_status_message());
break_loops_->store(true);
}
if(!ok()) {
RCLCPP_WARN_STREAM(node_->get_logger(),
"["+std::string(node_->get_name())+"]::driver interface exit on shotdown signal recieved."
);
}
_update_stiffness_contact_and_pose();
return robot_driver_interface_sptr_->get_joint_positions();
}