qlin/sas_robot_driver_franka
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need to test automatic error recovery

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QuentinLin
2024-07-30 12:41:51 +09:00
parent e72826aeff
commit c6c67078dd
3 changed files with 18 additions and 1 deletions
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10
src/sas_robot_driver_franka_node.cpp
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@@ -130,6 +130,16 @@ int main(int argc, char **argv)
robot_driver_franka_configuration.robot_reference_frame = robot.get_reference_frame();
}else{ROS_INFO_STREAM(ros::this_node::getName()+"::Robot parameter file path not set. Robot Model Unknow.");}
if(nh.hasParam(ros::this_node::getName()+"/automatic_error_recovery")) {
sas::get_ros_param(nh,"/automatic_error_recovery",robot_driver_franka_configuration.automatic_error_recovery);
if(robot_driver_franka_configuration.automatic_error_recovery)
{
ROS_WARN_STREAM(ros::this_node::getName()+"::Automatic error recovery enabled. STATUS EXPERIMENTAL");
}
}
robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
sas::RobotDriverROSConfiguration robot_driver_ros_configuration;