qlin/sas_robot_driver_franka
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

compatability fix for libfranka 0.14

Browse Source
This commit is contained in:
qlin960618
2024-11-21 15:27:57 +09:00
parent 2bcd8e72ff
commit 9968016135
2 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/sas_robot_driver_franka_node.cpp
View File

@@ -165,7 +165,7 @@ int main(int argc, char **argv)
try
{
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating Franka robot.");
auto robot_driver_franka = std::make_shared<sas::RobotDriverFranka>(
std::shared_ptr<sas::RobotDriverFranka> robot_driver_franka = std::make_shared<sas::RobotDriverFranka>(
node,
robot_dynamic_provider_ptr,
robot_driver_franka_configuration,
@@ -175,7 +175,7 @@ int main(int argc, char **argv)
robot_driver_franka -> set_joint_limits(joint_limits);
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS.");
sas::RobotDriverROS robot_driver_ros(node,
robot_driver_franka,
robot_driver_franka,
robot_driver_ros_configuration,
&kill_this_process);
robot_driver_ros.control_loop();