Added source files
This commit is contained in:
Juancho
789
src/robot_interface_franka.cpp
Normal file
789
src/robot_interface_franka.cpp
Normal file
@@ -0,0 +1,789 @@
|
||||
#include "robot_interface_franka.h"
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::robot_driver_franka
|
||||
* @param ROBOT_IP The IP address of the FCI
|
||||
* @param mode The operation mode {None, PositionControl}.
|
||||
* @param hand The hand option {ONFinished, OFF}.
|
||||
*/
|
||||
RobotInterfaceFranka::RobotInterfaceFranka(const std::string &ROBOT_IP,
|
||||
const MODE& mode,
|
||||
const HAND& hand):ip_(ROBOT_IP),mode_(mode)
|
||||
{
|
||||
_set_driver_mode(mode);
|
||||
if (hand == RobotInterfaceFranka::HAND::ON)
|
||||
{
|
||||
gripper_sptr_ = std::make_shared<franka::Gripper>(ip_);
|
||||
}
|
||||
robot_sptr_ = std::make_shared<franka::Robot>(ip_);
|
||||
_setDefaultRobotBehavior();
|
||||
/*
|
||||
std::cout<<"---------------------------------------------------------------"<<std::endl;
|
||||
std::cout<<"The connection is not automatic. Expected Workflow: "<<std::endl;
|
||||
std::cout<<"franka_driver.connect(); "<<std::endl;
|
||||
std::cout<<"franka_driver.initialize(); "<<std::endl;
|
||||
std::cout<<" "<<std::endl;
|
||||
std::cout<<"franka_driver.deinitialize(); "<<std::endl;
|
||||
std::cout<<"franka_driver.disconnect(); "<<std::endl;
|
||||
std::cout<<"---------------------------------------------------------------"<<std::endl;
|
||||
*/
|
||||
|
||||
|
||||
std::cout<<"-----------------------------------------------------------------"<<std::endl;
|
||||
std::cout<<"RobotInterfaceFranka is brought to you by Juan Jose Quiroz Omana."<<std::endl;
|
||||
std::cout<<" "<<std::endl;
|
||||
std::cout<<"-----------------------------------------------------------------"<<std::endl;
|
||||
finish_motion_ = false;
|
||||
finish_echo_robot_state_ = false;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_set_driver_mode sets the mode.
|
||||
* @param mode
|
||||
*/
|
||||
void RobotInterfaceFranka::_set_driver_mode(const RobotInterfaceFranka::MODE& mode)
|
||||
{
|
||||
switch (mode)
|
||||
{
|
||||
case RobotInterfaceFranka::MODE::None:
|
||||
mode_ = mode;
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::PositionControl:
|
||||
mode_ = mode;
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::VelocityControl:
|
||||
mode_ = mode;
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ClearPositions:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ClearPositions is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::Homing:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::Homing is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ForceControl:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ForceControl is not available. "));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::connect starts the connection with the robot and starts the robot state thread.
|
||||
*/
|
||||
void RobotInterfaceFranka::connect()
|
||||
{
|
||||
_update_status_message("Connecting...", verbose_);
|
||||
current_joint_positions_ = read_once_initial_positions(); //_read_once_smooth_initial_positions(1000);
|
||||
desired_joint_positions_ = current_joint_positions_;
|
||||
desired_joint_velocities_ = VectorXd::Zero(7);
|
||||
_update_status_message("Connected.", verbose_);
|
||||
_start_echo_robot_state_mode_thread(); // start_robot_state_loop to read joints without moving the robot;
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::disconnect stops all loops threads. Use this method after to run deinitialize().
|
||||
*/
|
||||
void RobotInterfaceFranka::disconnect()
|
||||
{
|
||||
_update_status_message("Disconnecting...", verbose_);
|
||||
|
||||
_finish_echo_robot_state();
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
|
||||
|
||||
if (joint_position_control_mode_thread_.joinable())
|
||||
{
|
||||
joint_position_control_mode_thread_.join();
|
||||
}
|
||||
if (echo_robot_state_mode_thread_.joinable())
|
||||
{
|
||||
echo_robot_state_mode_thread_.join();
|
||||
}
|
||||
if (joint_velocity_control_mode_thread_.joinable())
|
||||
{
|
||||
joint_velocity_control_mode_thread_.join();
|
||||
}
|
||||
|
||||
_update_status_message("Disconnected.", verbose_);
|
||||
_restart_default_parameters();
|
||||
|
||||
|
||||
}
|
||||
|
||||
void RobotInterfaceFranka::set_target_joint_velocities(const VectorXd &target_joint_velocities)
|
||||
{
|
||||
desired_joint_velocities_ = target_joint_velocities;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_restart_default_parameters
|
||||
*/
|
||||
void RobotInterfaceFranka::_restart_default_parameters()
|
||||
{
|
||||
finish_motion_ = false;
|
||||
finish_echo_robot_state_ = false;
|
||||
initialize_flag_ = false;
|
||||
time_ = 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_compute_recursive_mean computes the recursive mean of a vector
|
||||
* @param n The number of samples
|
||||
* @param q The vector
|
||||
* @return The recursive mean of n samples.
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::_compute_recursive_mean(const double& n, const VectorXd& q)
|
||||
{
|
||||
//Vector7d qm;
|
||||
Vector7d qmean;
|
||||
for (int i=0;i<q.size();i++)
|
||||
{
|
||||
//qm[i] = (1/n)*((n-1)*q[i] + q[i]);
|
||||
qmean[i] = (1/n)*((n-1)*q[i] + q[i]);
|
||||
}
|
||||
return qmean;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_start_joint_position_control_thread
|
||||
*/
|
||||
void RobotInterfaceFranka::_start_joint_position_control_thread()
|
||||
{
|
||||
finish_motion_ = false;
|
||||
_update_status_message("checking joint position control thread",verbose_);
|
||||
if (joint_position_control_mode_thread_.joinable())
|
||||
{
|
||||
joint_position_control_mode_thread_.join();
|
||||
}
|
||||
_update_status_message("Starting joint position control thread",verbose_);
|
||||
joint_position_control_mode_thread_ = std::thread(&RobotInterfaceFranka::_start_joint_position_control_mode, this);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void RobotInterfaceFranka::_start_joint_velocity_control_thread()
|
||||
{
|
||||
finish_motion_ = false;
|
||||
_update_status_message("checking joint velocity control thread",verbose_);
|
||||
if (joint_velocity_control_mode_thread_.joinable())
|
||||
{
|
||||
joint_velocity_control_mode_thread_.join();
|
||||
}
|
||||
_update_status_message("Starting joint velocity control thread",verbose_);
|
||||
joint_velocity_control_mode_thread_ = std::thread(&RobotInterfaceFranka::_start_joint_velocity_control_mode, this);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_start_echo_robot_state_mode_thread
|
||||
*/
|
||||
void RobotInterfaceFranka::_start_echo_robot_state_mode_thread()
|
||||
{
|
||||
finish_echo_robot_state_ = false;
|
||||
_update_status_message("Checking echo robot state thread",verbose_);
|
||||
if (echo_robot_state_mode_thread_.joinable())
|
||||
{
|
||||
echo_robot_state_mode_thread_.join();
|
||||
}
|
||||
_update_status_message("Starting echo robot state thread",verbose_);
|
||||
echo_robot_state_mode_thread_ = std::thread(&RobotInterfaceFranka::_start_echo_robot_state_mode, this);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::finish_motion
|
||||
*/
|
||||
void RobotInterfaceFranka::finish_motion()
|
||||
{
|
||||
_update_status_message("Ending control loop.",verbose_);
|
||||
for (int i=0;i<1000;i++)
|
||||
{
|
||||
set_target_joint_positions(current_joint_positions_);
|
||||
set_target_joint_velocities(VectorXd::Zero(7));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
||||
}
|
||||
finish_motion_ = true;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_robot_pointer
|
||||
* @return
|
||||
*/
|
||||
std::shared_ptr<franka::Robot> RobotInterfaceFranka::get_robot_pointer()
|
||||
{
|
||||
return robot_sptr_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_finish_echo_robot_state
|
||||
*/
|
||||
void RobotInterfaceFranka::_finish_echo_robot_state()
|
||||
{
|
||||
_update_status_message("Finishing echo robot state.",verbose_);
|
||||
finish_echo_robot_state_ = true;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::deinitialize
|
||||
*/
|
||||
void RobotInterfaceFranka::deinitialize()
|
||||
{
|
||||
_update_status_message("Deinitializing....",verbose_);
|
||||
initialize_flag_ = false;
|
||||
switch (mode_)
|
||||
{
|
||||
case RobotInterfaceFranka::MODE::None:
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::PositionControl:
|
||||
finish_motion();
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::VelocityControl:
|
||||
finish_motion();
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ClearPositions:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ClearPositions is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::Homing:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::Homing is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ForceControl:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ForceControl is not available. "));
|
||||
break;
|
||||
}
|
||||
_update_status_message("Deinitialized.",verbose_);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::initialize
|
||||
*/
|
||||
void RobotInterfaceFranka::initialize()
|
||||
{
|
||||
_update_status_message("Initializing....",verbose_);
|
||||
|
||||
initialize_flag_ = true;
|
||||
|
||||
|
||||
switch (mode_)
|
||||
{
|
||||
case RobotInterfaceFranka::MODE::None:
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::PositionControl:
|
||||
_finish_echo_robot_state();
|
||||
_start_joint_position_control_thread();
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::VelocityControl:
|
||||
_finish_echo_robot_state();
|
||||
_start_joint_velocity_control_thread();
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ClearPositions:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ClearPositions is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::Homing:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::Homing is not available. "));
|
||||
break;
|
||||
case RobotInterfaceFranka::MODE::ForceControl:
|
||||
throw std::runtime_error(std::string("The robot_driver_franka::ForceControl is not available. "));
|
||||
break;
|
||||
}
|
||||
_update_status_message("Initialized.",verbose_);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_update_robot_state
|
||||
* @param robot_state
|
||||
* @param time
|
||||
*/
|
||||
void RobotInterfaceFranka::_update_robot_state(const franka::RobotState &robot_state, const double& time)
|
||||
{
|
||||
current_joint_positions_array_ = robot_state.q_d;
|
||||
current_joint_positions_ = Eigen::Map<VectorXd>(current_joint_positions_array_.data(), 7);
|
||||
|
||||
current_joint_velocities_array_ = robot_state.dq_d;
|
||||
current_joint_velocities_ = Eigen::Map<VectorXd>(current_joint_velocities_array_.data(), 7);
|
||||
|
||||
current_joint_forces_array_ = robot_state.tau_J;
|
||||
current_joint_forces_ = Eigen::Map<VectorXd>(current_joint_forces_array_.data(), 7);
|
||||
|
||||
robot_mode_ = robot_state.robot_mode;
|
||||
time_ = time;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_start_echo_robot_state_mode
|
||||
*/
|
||||
void RobotInterfaceFranka::_start_echo_robot_state_mode(){
|
||||
double time = 0.0;
|
||||
size_t count = 0;
|
||||
double t1 = 0.0;
|
||||
|
||||
try {
|
||||
robot_sptr_->read([&t1, &count, &time, this](const franka::RobotState& robot_state) {
|
||||
if (count == 0)
|
||||
{
|
||||
t1 = robot_state.time.toSec();
|
||||
}
|
||||
time = robot_state.time.toSec() - t1;
|
||||
_update_robot_state(robot_state, time);
|
||||
count++;
|
||||
return !finish_echo_robot_state_;
|
||||
});
|
||||
_update_status_message("Finished echo_robot_state.",verbose_);
|
||||
}
|
||||
catch (franka::Exception const& e) {
|
||||
std::cout << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_start_joint_position_control_mode
|
||||
*/
|
||||
void RobotInterfaceFranka::_start_joint_position_control_mode()
|
||||
{
|
||||
std::array<double, 7> initial_position;
|
||||
VectorXd target_position;
|
||||
double time = 0.0;
|
||||
|
||||
VectorXd q = VectorXd::Zero(7);
|
||||
franka::RobotState state = robot_sptr_->readOnce();
|
||||
q = Map<VectorXd>(state.q_d.data(), 7);
|
||||
desired_joint_positions_ = q;
|
||||
|
||||
VectorXd q_dot = VectorXd::Zero(7);
|
||||
_update_status_message("Starting joint position control mode EXPERIMENTAL",verbose_);
|
||||
trajectory_generator_sptr_ =
|
||||
std::make_unique<QuadraticProgramMotionGenerator>(1.0, q, q_dot, q);
|
||||
|
||||
double n2 = 2;
|
||||
double n1 = 1000*std::sqrt(n2);
|
||||
VectorXd K2 = (VectorXd(7)<<n2, n2, n2, n2, n2, n2, n2).finished();
|
||||
VectorXd K1 = (VectorXd(7)<<n1, n1, n1, n1, 3*n1, 3*n1, 3*n1).finished();
|
||||
trajectory_generator_sptr_->set_diagonal_gains(K1, K2);
|
||||
|
||||
finish_motion_ = false;
|
||||
|
||||
int retry_counter = 0;
|
||||
int TIMEOUT_IN_MILISECONDS = 5000;
|
||||
|
||||
try {
|
||||
robot_sptr_->control( //------------------------------------------------------------
|
||||
[&initial_position, &time, this](const franka::RobotState& robot_state,
|
||||
franka::Duration period) -> franka::JointPositions {
|
||||
time += period.toSec();
|
||||
double T = period.toSec();
|
||||
|
||||
auto new_q = trajectory_generator_sptr_->compute_new_configuration(desired_joint_positions_, T);
|
||||
|
||||
|
||||
if (time == 0.0) {
|
||||
initial_position = robot_state.q_d;
|
||||
new_q = Eigen::Map<VectorXd>(initial_position.data(), 7);
|
||||
}
|
||||
|
||||
|
||||
franka::JointPositions output = {{new_q[0], new_q[1],
|
||||
new_q[2], new_q[3],
|
||||
new_q[4], new_q[5],
|
||||
new_q[6]}};
|
||||
|
||||
if (time == 0.0) {
|
||||
_update_status_message("joint position control mode running! ",verbose_);
|
||||
}
|
||||
|
||||
if (finish_motion_) {
|
||||
_update_status_message("Motion finished",verbose_);
|
||||
finish_motion_ = false;
|
||||
return franka::MotionFinished(output);
|
||||
}else
|
||||
{
|
||||
_update_robot_state(robot_state, time);
|
||||
}
|
||||
return output;
|
||||
}
|
||||
);//------------------------------------------------------------
|
||||
|
||||
}
|
||||
catch (franka::Exception const& e) {
|
||||
std::cout << e.what() << std::endl;
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(TIMEOUT_IN_MILISECONDS));
|
||||
retry_counter++;
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief RobotInterfaceFranka::_start_joint_velocity_control_mode
|
||||
*/
|
||||
void RobotInterfaceFranka::_start_joint_velocity_control_mode()
|
||||
{
|
||||
finish_motion_ = false;
|
||||
|
||||
std::array<double, 7> initial_velocity;
|
||||
|
||||
VectorXd q_dot_initial = VectorXd::Zero(7);
|
||||
VectorXd q_dot = VectorXd::Zero(7);
|
||||
desired_joint_velocities_ = VectorXd::Zero(7);
|
||||
trajectory_generator_sptr_ =
|
||||
std::make_unique<QuadraticProgramMotionGenerator>(0.8, q_dot_initial, q_dot);
|
||||
|
||||
double n2 = 1;
|
||||
double n1 = 10*std::sqrt(n2);
|
||||
VectorXd K2 = (VectorXd(7)<<n2, n2, n2, n2, n2, n2, n2).finished();
|
||||
VectorXd K1 = (VectorXd(7)<<n1, n1, n1, n1, 2*n1, 2*n1, 2*n1).finished();
|
||||
trajectory_generator_sptr_->set_diagonal_gains(K1, K2);
|
||||
_update_status_message("Starting joint velocity control mode EXPERIMENTAL",verbose_);
|
||||
try {
|
||||
double time = 0.0;
|
||||
|
||||
robot_sptr_->control(
|
||||
[&initial_velocity, &time, this](const franka::RobotState& robot_state, franka::Duration period) -> franka::JointVelocities {
|
||||
time += period.toSec();
|
||||
double T = period.toSec();
|
||||
|
||||
auto new_u = trajectory_generator_sptr_->compute_new_configuration_velocities(desired_joint_velocities_, T);
|
||||
|
||||
franka::JointVelocities velocities = {{new_u[0], new_u[1],
|
||||
new_u[2], new_u[3],
|
||||
new_u[4], new_u[5],
|
||||
new_u[6]}};
|
||||
|
||||
if (time == 0.0) {
|
||||
_update_status_message("joint velocity control mode running! ",verbose_);
|
||||
}
|
||||
|
||||
if (finish_motion_) {
|
||||
_update_status_message("Motion finished",verbose_);
|
||||
finish_motion_ = false;
|
||||
return franka::MotionFinished(velocities);
|
||||
}else
|
||||
{
|
||||
_update_robot_state(robot_state, time);
|
||||
initial_velocity = robot_state.dq_d;
|
||||
}
|
||||
return velocities;
|
||||
});
|
||||
}
|
||||
catch (franka::Exception const& e) {
|
||||
std::cout << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_setDefaultRobotBehavior
|
||||
*/
|
||||
void RobotInterfaceFranka::_setDefaultRobotBehavior()
|
||||
{
|
||||
robot_sptr_->setCollisionBehavior(
|
||||
{{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
|
||||
{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}},
|
||||
{{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
|
||||
{{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}});
|
||||
|
||||
robot_sptr_->setJointImpedance({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});
|
||||
robot_sptr_->setCartesianImpedance({{3000, 3000, 3000, 300, 300, 300}});
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_update_status_message
|
||||
* @param message
|
||||
* @param verbose
|
||||
*/
|
||||
void RobotInterfaceFranka::_update_status_message(const std::string &message, const bool& verbose)
|
||||
{
|
||||
status_message_ = message;
|
||||
std::string base = "RobotInterfaceFranka::";
|
||||
if(verbose)
|
||||
{
|
||||
std::cout<<base+message<<std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_status_message
|
||||
* @return
|
||||
*/
|
||||
std::string RobotInterfaceFranka::get_status_message()
|
||||
{
|
||||
return status_message_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief RobotInterfaceFranka::get_robot_mode
|
||||
* @return
|
||||
*/
|
||||
std::string RobotInterfaceFranka::get_robot_mode()
|
||||
{
|
||||
std::string string_robot_mode;
|
||||
switch (robot_mode_) {
|
||||
case (franka::RobotMode::kUserStopped):
|
||||
string_robot_mode = "User stopped";
|
||||
break;
|
||||
case (franka::RobotMode::kIdle):
|
||||
string_robot_mode = "Idle";
|
||||
break;
|
||||
case (franka::RobotMode::kMove):
|
||||
string_robot_mode = "Move";
|
||||
break;
|
||||
case (franka::RobotMode::kGuiding):
|
||||
string_robot_mode = "Guiding";
|
||||
break;
|
||||
case (franka::RobotMode::kReflex):
|
||||
string_robot_mode = "Reflex";
|
||||
break;
|
||||
case (franka::RobotMode::kAutomaticErrorRecovery):
|
||||
string_robot_mode = "Automatic error recovery";
|
||||
break;
|
||||
case (franka::RobotMode::kOther):
|
||||
string_robot_mode = "Other";
|
||||
break;
|
||||
|
||||
}
|
||||
return string_robot_mode;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_check_if_robot_is_connected
|
||||
*/
|
||||
void RobotInterfaceFranka::_check_if_robot_is_connected()
|
||||
{
|
||||
if(!robot_sptr_)
|
||||
throw std::runtime_error("Invalid robot pointer. You must connect(), then initialize(). "
|
||||
+ std::string("Example: robot_driver_franka(IP, robot_driver_franka::MODE::None, robot_driver_franka::HAND::ON)" ));
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_check_if_hand_is_connected
|
||||
*/
|
||||
void RobotInterfaceFranka::_check_if_hand_is_connected()
|
||||
{
|
||||
if(!gripper_sptr_)
|
||||
throw std::runtime_error("Invalid hand pointer. You must connect(), then initialize(). "
|
||||
+ std::string("Example: robot_driver_franka(IP, robot_driver_franka::MODE::None, robot_driver_franka::HAND::ON)" ));
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_joint_positions
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::get_joint_positions()
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
return current_joint_positions_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_joint_velocities
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::get_joint_velocities()
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
return current_joint_velocities_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief RobotInterfaceFranka::get_joint_forces
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::get_joint_forces()
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
return current_joint_forces_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_time
|
||||
* @return
|
||||
*/
|
||||
double RobotInterfaceFranka::get_time()
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
return time_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::_read_once_smooth_initial_positions
|
||||
* @param samples
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::_read_once_smooth_initial_positions(const double& samples)
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
VectorXd q = VectorXd::Zero(7);
|
||||
_update_status_message("Reading smooth initial joints...",verbose_);
|
||||
for (int i=0;i<samples;i++ )
|
||||
{
|
||||
franka::RobotState state = robot_sptr_->readOnce();
|
||||
q = Map<VectorXd>(state.q_d.data(), 7);
|
||||
q = _compute_recursive_mean(samples, q);
|
||||
}
|
||||
return q;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::read_once_initial_positions
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::read_once_initial_positions()
|
||||
{
|
||||
_check_if_robot_is_connected();
|
||||
VectorXd q = VectorXd::Zero(7);
|
||||
_update_status_message("Reading initial joints...",verbose_);
|
||||
franka::RobotState state = robot_sptr_->readOnce();
|
||||
q = Map<VectorXd>(state.q_d.data(), 7);
|
||||
return q;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::move_robot_to_target_joint_positions
|
||||
* @param q_target
|
||||
*/
|
||||
void RobotInterfaceFranka::move_robot_to_target_joint_positions(const VectorXd& q_target)
|
||||
{
|
||||
_finish_echo_robot_state();
|
||||
_check_if_robot_is_connected();
|
||||
|
||||
if (!initialize_flag_)
|
||||
{
|
||||
throw std::runtime_error(std::string("Error in set_initial_robot_configuration. Driver not initialized. Use initialize(); "));
|
||||
}
|
||||
MotionGenerator motion_generator(speed_factor_joint_position_controller_, q_target);
|
||||
|
||||
try {
|
||||
_update_status_message("Moving robot...", verbose_);
|
||||
robot_sptr_->control(motion_generator);
|
||||
}
|
||||
catch (franka::Exception const& e) {
|
||||
std::cout << e.what() << std::endl;
|
||||
}
|
||||
|
||||
_start_echo_robot_state_mode_thread();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::set_joint_target_positions
|
||||
* @param set_target_joint_positions_rad
|
||||
*/
|
||||
void RobotInterfaceFranka::set_target_joint_positions(const VectorXd& set_target_joint_positions_rad)
|
||||
{
|
||||
desired_joint_positions_ = set_target_joint_positions_rad;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_joint_target_positions
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::get_joint_target_positions()
|
||||
{
|
||||
return desired_joint_positions_;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::read_gripper
|
||||
* @param gripper_state
|
||||
* @return
|
||||
*/
|
||||
double RobotInterfaceFranka::read_gripper(const GRIPPER_STATES& gripper_state)
|
||||
{
|
||||
_check_if_hand_is_connected();
|
||||
franka::GripperState state = gripper_sptr_->readOnce();
|
||||
switch (gripper_state) {
|
||||
case RobotInterfaceFranka::GRIPPER_STATES::WIDTH:
|
||||
return state.width;
|
||||
break;
|
||||
case RobotInterfaceFranka::GRIPPER_STATES::MAX_WIDTH:
|
||||
return state.max_width;
|
||||
break;
|
||||
default:
|
||||
throw std::runtime_error(std::string("Wrong argument in sas_robot_driver_franka::read_gripper. "));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::read_grasped_status
|
||||
* @return
|
||||
*/
|
||||
bool RobotInterfaceFranka::read_grasped_status()
|
||||
{
|
||||
_check_if_hand_is_connected();
|
||||
franka::GripperState state = gripper_sptr_->readOnce();
|
||||
return state.is_grasped;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::set_gripper
|
||||
* @param width
|
||||
*/
|
||||
void RobotInterfaceFranka::set_gripper(const double& width)
|
||||
{
|
||||
_check_if_hand_is_connected();
|
||||
auto gripper_max_width = read_gripper(RobotInterfaceFranka::GRIPPER_STATES::MAX_WIDTH);
|
||||
if (width > gripper_max_width)
|
||||
{
|
||||
throw std::runtime_error(
|
||||
std::string("You used a width = ") +
|
||||
std::to_string(width) +
|
||||
std::string(". Maximum width allowed is ") +
|
||||
std::to_string(gripper_max_width)
|
||||
);
|
||||
}
|
||||
gripper_sptr_->move(width, speed_gripper_);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::gripper_homing
|
||||
*/
|
||||
void RobotInterfaceFranka::gripper_homing()
|
||||
{
|
||||
_check_if_hand_is_connected();
|
||||
gripper_sptr_->homing();
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief robot_driver_franka::get_home_robot_configuration
|
||||
* @return
|
||||
*/
|
||||
VectorXd RobotInterfaceFranka::get_home_robot_configuration()
|
||||
{
|
||||
return q_home_configuration_;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user