qlin/sas_robot_driver_franka
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need to test automatic error recovery

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This commit is contained in:
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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8
CMakeLists.txt
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@@ -137,6 +137,9 @@ target_link_libraries(qros_robot_dynamics_interface
${catkin_LIBRARIES} ${catkin_LIBRARIES}
dqrobotics) dqrobotics)
add_dependencies(qros_robot_dynamics_interface ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(qros_robot_dynamics_interface ${catkin_EXPORTED_TARGETS})
add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp) add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
target_link_libraries(sas_robot_driver_franka target_link_libraries(sas_robot_driver_franka
@@ -150,7 +153,8 @@ target_link_libraries(qros_effector_driver_franka_hand
dqrobotics dqrobotics
# robot_interface_hand # robot_interface_hand
Franka::Franka) Franka::Franka)
add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(qros_effector_driver_franka_hand ${catkin_EXPORTED_TARGETS})
add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp) add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
target_link_libraries(sas_robot_driver_coppelia target_link_libraries(sas_robot_driver_coppelia
@@ -200,6 +204,8 @@ include_directories(
pybind_add_module(_qros_robot_dynamic SHARED 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 src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
) )
add_dependencies(_qros_robot_dynamic ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND) target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
# https://github.com/pybind/pybind11/issues/387 # https://github.com/pybind/pybind11/issues/387
target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics) target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)

1
include/sas_robot_driver_franka.h
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@@ -61,6 +61,7 @@ struct RobotDriverFrankaConfiguration
double speed; double speed;
RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration; RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
DQ robot_reference_frame = DQ(0); DQ robot_reference_frame = DQ(0);
bool automatic_error_recovery = false;
}; };

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(); 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.");} }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; robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
sas::RobotDriverROSConfiguration robot_driver_ros_configuration; sas::RobotDriverROSConfiguration robot_driver_ros_configuration;