impliment improved error handeling on driver failed

include/robot_interface_franka.h

@@ -117,6 +117,9 @@ private:
 
 
     //-------To handle the threads-----------------
+    std::atomic<bool> exit_on_err_={false};
+
+
     void _start_joint_position_control_mode();
     std::thread joint_position_control_mode_thread_;
     void _start_joint_position_control_thread();
@@ -169,6 +172,8 @@ public:
 
     std::string get_status_message();
 
+    bool get_err_state() const {return exit_on_err_.load();}
+
     std::string get_robot_mode();
 
 

include/robot_interface_hand.h

@@ -52,7 +52,7 @@ using namespace Eigen;
 class RobotInterfaceHand
 {
 protected:
-    double speed_gripper_ = 0.02;
+    double speed_gripper_ = 0.05;//0.02
     std::string ip_ = "172.16.0.2";
     std::shared_ptr<franka::Gripper> gripper_sptr_;
     void _check_if_hand_is_connected();

include/sas_robot_driver_franka.h

@@ -42,6 +42,7 @@
 
 #include <sas_robot_driver/sas_robot_driver.h>
 #include "robot_interface_franka.h"
+#include <ros/common.h>
 
 using namespace DQ_robotics;
 using namespace Eigen;
@@ -74,6 +75,7 @@ private:
     //std::vector<double> end_effector_pose_euler_buffer_;
     //std::vector<double> end_effector_pose_homogenous_transformation_buffer_;
 
+    std::atomic_bool* break_loops_;
 
 
 public: