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minor general bug fix

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This commit is contained in:
qlin960618
2024-08-18 20:57:24 +09:00
parent 900f6aa2e1
commit 9b2061ba01
6 changed files with 10 additions and 249 deletions
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10
CMakeLists.txt
View File

@@ -244,22 +244,22 @@ install(TARGETS
##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
ament_python_install_package(${PROJECT_NAME})
pybind11_add_module(_robot_dynamics SHARED
pybind11_add_module(_qros_franka_robot_dynamic SHARED
src/robot_dynamics/qros_robot_dynamics_py.cpp
src/robot_dynamics/qros_robot_dynamics_client.cpp
src/robot_dynamics/qros_robot_dynamics_server.cpp
)
target_include_directories(_robot_dynamics
target_include_directories(_qros_franka_robot_dynamic
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
$<INSTALL_INTERFACE:include/robot_dynamics>)
target_compile_definitions(_robot_dynamics PRIVATE IS_SAS_PYTHON_BUILD)
target_compile_definitions(_qros_franka_robot_dynamic PRIVATE IS_SAS_PYTHON_BUILD)
# https://github.com/pybind/pybind11/issues/387
target_link_libraries(_robot_dynamics PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
target_link_libraries(_qros_franka_robot_dynamic PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
install(TARGETS _robot_dynamics
install(TARGETS _qros_franka_robot_dynamic
DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
)
##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####

239
CMakeLists_catkin.txt
View File

@@ -1,239 +0,0 @@
cmake_minimum_required(VERSION 3.0.2)
project(sas_robot_driver_franka)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
#add_compile_options(-std=c++11)
add_compile_options(-Werror=return-type)
#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
file(GLOB_RECURSE EXTRA_FILES */*)
#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
tf2_ros
tf2
sas_common
sas_clock
sas_robot_driver
sas_patient_side_manager
message_generation
pybind11_catkin
)
add_service_files(
DIRECTORY srv
FILES
Move.srv
Grasp.srv
)
add_message_files(
DIRECTORY msg
FILES
GripperState.msg
)
catkin_python_setup()
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs
)
find_package(Franka REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(yaml-cpp REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
# To correctly find and link with QT
set(CMAKE_PREFIX_PATH $ENV{QT_PATH})
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)
if (CMAKE_VERSION VERSION_LESS "3.7.0")
set(CMAKE_INCLUDE_CURRENT_DIR ON)
endif ()
find_package(Qt5 COMPONENTS Widgets REQUIRED)
find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
add_library(MotionGenerator src/generator/motion_generator.cpp)
target_link_libraries(MotionGenerator Franka::Franka)
add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
target_link_libraries(QuadraticProgramMotionGenerator
qpOASES
dqrobotics
ConstraintsManager)
add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
target_link_libraries(CustomMotionGeneration
qpOASES
dqrobotics
ConstraintsManager)
add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
target_link_libraries(robot_interface_franka Franka::Franka
dqrobotics
MotionGenerator
ConstraintsManager
QuadraticProgramMotionGenerator
CustomMotionGeneration)
add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
target_link_libraries(robot_interface_hand Franka::Franka
dqrobotics)
############
## Build ###
############
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
include/generator
src/
src/robot_dynamics
src/hand
src/joint
${catkin_INCLUDE_DIRS}
constraints_manager/include
)
add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
target_link_libraries(qros_robot_dynamics_provider
${catkin_LIBRARIES}
dqrobotics)
add_library(qros_robot_dynamics_interface src/robot_dynamics/qros_robot_dynamics_interface.cpp)
target_link_libraries(qros_robot_dynamics_interface
${catkin_LIBRARIES}
dqrobotics)
add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
target_link_libraries(sas_robot_driver_franka
qros_robot_dynamics_provider
dqrobotics
dqrobotics-interface-json11
robot_interface_franka)
add_library(qros_effector_driver_franka_hand src/hand/qros_effector_driver_franka_hand.cpp)
target_link_libraries(qros_effector_driver_franka_hand
dqrobotics
# robot_interface_hand
Franka::Franka)
add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
target_link_libraries(sas_robot_driver_coppelia
dqrobotics
dqrobotics-interface-vrep)
add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
target_link_libraries(sas_robot_driver_coppelia_node
sas_robot_driver_coppelia
${catkin_LIBRARIES})
add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)
target_link_libraries(sas_robot_driver_franka_node
sas_robot_driver_franka
${catkin_LIBRARIES})
add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
target_link_libraries(sas_robot_driver_franka_hand_node
qros_effector_driver_franka_hand
${catkin_LIBRARIES})
add_executable(JuankaEmika
qt/configuration_window/main.cpp
qt/configuration_window/mainwindow.cpp
qt/configuration_window/mainwindow.ui
)
target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
dqrobotics
${catkin_LIBRARIES}
robot_interface_franka
)
#####################################################################################
# python binding
include_directories(
include/robot_dynamic
)
pybind_add_module(_qros_robot_dynamic SHARED
src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
)
target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
# https://github.com/pybind/pybind11/issues/387
target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
if (QT_VERSION_MAJOR EQUAL 6)
qt_finalize_executable(JuankaEmika)
endif ()
install(TARGETS ${PROJECT_NAME}
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(TARGETS sas_robot_driver_franka_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS sas_robot_driver_coppelia_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS sas_robot_driver_franka_hand_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
)
install(TARGETS _qros_robot_dynamic
LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
)

2
include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp
View File

@@ -62,7 +62,7 @@ private:
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_base_tf_broadcaster_;
DQ world_to_base_tf_;
DQ world_to_base_tf_ = DQ(0);
static geometry_msgs::msg::Transform _dq_to_geometry_msgs_transform(const DQ& pose);

2
sas_robot_driver_franka/__init__.py
View File

@@ -1,6 +1,6 @@
"""
"""
from sas_robot_driver_franka._robot_dynamics import RobotDynamicsInterface, RobotDynamicsProvider
from sas_robot_driver_franka._qros_franka_robot_dynamic import RobotDynamicsClient, RobotDynamicsServer
import rclpy
from rclpy.node import Node

2
src/robot_dynamics/qros_robot_dynamics_py.cpp
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@@ -40,7 +40,7 @@ using RDC = qros::RobotDynamicsClient;
using RDS = qros::RobotDynamicsServer;
PYBIND11_MODULE(_qros_robot_dynamic, m)
PYBIND11_MODULE(_qros_franka_robot_dynamic, m)
{
py::class_<RDC>(m, "RobotDynamicsClient")
.def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())

4
src/robot_dynamics/qros_robot_dynamics_server.cpp
View File

@@ -34,9 +34,9 @@ using namespace qros;
RobotDynamicsServer::RobotDynamicsServer(const std::shared_ptr<Node> &node, const std::string& topic_prefix):
node_(node), topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix),
child_frame_id_(topic_prefix_ + "_stiffness_frame"), parent_frame_id_(topic_prefix_ + "_base"),
world_to_base_tf_(0),
tf_broadcaster_(std::make_shared<tf2_ros::TransformBroadcaster>(node_)),
static_base_tf_broadcaster_(std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_))
static_base_tf_broadcaster_(std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_)),
world_to_base_tf_(0)
{
// Strip potential leading slash
if(child_frame_id_.front() == '/'){child_frame_id_ = child_frame_id_.substr(1);}