From 99680161354fdf674501e1fa22d9abfa30c262d1 Mon Sep 17 00:00:00 2001 From: qlin960618 Date: Thu, 21 Nov 2024 15:27:57 +0900 Subject: [PATCH] compatability fix for libfranka 0.14 --- CMakeLists.txt | 9 +++++++-- src/sas_robot_driver_franka_node.cpp | 4 ++-- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0fd2a60..68532be 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,6 +23,7 @@ find_package(tf2_ros REQUIRED) find_package(tf2 REQUIRED) find_package(sas_robot_driver REQUIRED) find_package(Franka REQUIRED) +find_package(pinocchio REQUIRED) find_package(sas_robot_driver_franka_interfaces REQUIRED) # Add this line ## To correctly find and link with QT @@ -91,7 +92,7 @@ install( ##### CPP LIBRARY Motion Generation ##### add_library(MotionGenerator src/generator/motion_generator.cpp) -target_link_libraries(MotionGenerator Franka::Franka Eigen3::Eigen) +target_link_libraries(MotionGenerator Franka::Franka pinocchio::pinocchio Eigen3::Eigen) add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp) target_link_libraries(ConstraintsManager Eigen3::Eigen) @@ -126,6 +127,7 @@ target_link_libraries(CustomMotionGeneration add_library(robot_interface_franka src/joint/robot_interface_franka.cpp) target_link_libraries(robot_interface_franka Franka::Franka + pinocchio::pinocchio dqrobotics MotionGenerator ConstraintsManager @@ -134,6 +136,7 @@ target_link_libraries(robot_interface_franka Franka::Franka add_library(robot_interface_hand src/hand/robot_interface_hand.cpp) target_link_libraries(robot_interface_hand Franka::Franka + pinocchio::pinocchio dqrobotics) @@ -164,7 +167,9 @@ ament_target_dependencies(qros_effector_driver_franka_hand target_link_libraries(qros_effector_driver_franka_hand dqrobotics - Franka::Franka) + Franka::Franka + pinocchio::pinocchio +) #target_include_directories(qros_effector_driver_franka_hand # PUBLIC diff --git a/src/sas_robot_driver_franka_node.cpp b/src/sas_robot_driver_franka_node.cpp index a871c50..b46c119 100644 --- a/src/sas_robot_driver_franka_node.cpp +++ b/src/sas_robot_driver_franka_node.cpp @@ -165,7 +165,7 @@ int main(int argc, char **argv) try { RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating Franka robot."); - auto robot_driver_franka = std::make_shared( + std::shared_ptr robot_driver_franka = std::make_shared( node, robot_dynamic_provider_ptr, robot_driver_franka_configuration, @@ -175,7 +175,7 @@ int main(int argc, char **argv) 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, + robot_driver_franka, robot_driver_ros_configuration, &kill_this_process); robot_driver_ros.control_loop();