qlin/sas_robot_driver_franka
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Added support for configuration file mode

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This commit is contained in:
Juancho
2023-06-07 13:36:54 +09:00
parent 5a54538279
commit 07112558fa
4 changed files with 24 additions and 31 deletions
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22
src/sas_robot_driver_franka.cpp
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@@ -17,8 +17,28 @@ namespace sas
end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
std::cout<<configuration.ip_address<<std::endl;
RobotInterfaceFranka::MODE mode = RobotInterfaceFranka::MODE::None;
std::cout<<configuration.mode<<std::endl;
if (configuration_.mode == std::string("None"))
{
mode = RobotInterfaceFranka::MODE::None;
}else if (configuration_.mode == std::string("PositionControl"))
{
mode = RobotInterfaceFranka::MODE::PositionControl;
}else if (configuration_.mode == std::string("VelocityControl"))
{
mode = RobotInterfaceFranka::MODE::VelocityControl;
}else
{
throw std::runtime_error(std::string("Wrong mode. ") + std::string("You used ") + configuration_.mode
+ std::string(". However, you must use None, PositionControl or VelocityControl"));
}
robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(configuration.ip_address,
RobotInterfaceFranka::MODE::VelocityControl, //None, PositionControl
mode, //None, PositionControl, VelocityControl
RobotInterfaceFranka::HAND::ON);
}

18
src/sas_robot_driver_franka_node.cpp
View File

@@ -41,12 +41,7 @@ int main(int argc, char **argv)
sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
// sas::get_ros_param(nh,"/robot_port", robot_driver_franka_configuration.port);
//sas::get_ros_param(nh,"/robot_speed", robot_driver_franka_configuration.speed);
//robot_driver_franka_configuration.ip_address = "172.16.0.2";
//robot_driver_franka_configuration.port = 0;
//robot_driver_franka_configuration.speed = 0.0;
sas::get_ros_param(nh,"/robot_mode", robot_driver_franka_configuration.mode, false);
sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
@@ -54,17 +49,6 @@ int main(int argc, char **argv)
sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
//auto qmin = sas::std_vector_double_to_vectorxd(robot_driver_ros_configuration.q_min);
//auto qmax = sas::std_vector_double_to_vectorxd(robot_driver_ros_configuration.q_max);
//std::vector<double> q_min = {-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895};
//std::vector<double> q_max = { 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895};
//robot_driver_ros_configuration.thread_sampling_time_nsec = 4000000;
//robot_driver_ros_configuration.q_min = q_min;
//robot_driver_ros_configuration.q_max = q_max;
robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
try