qlin/sas_robot_driver_franka
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compatability fix for libfranka 0.14

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qlin960618
2024-11-21 15:27:57 +09:00
parent 2bcd8e72ff
commit 9968016135
2 changed files with 9 additions and 4 deletions
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9
CMakeLists.txt
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@@ -23,6 +23,7 @@ find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED) find_package(tf2 REQUIRED)
find_package(sas_robot_driver REQUIRED) find_package(sas_robot_driver REQUIRED)
find_package(Franka REQUIRED) find_package(Franka REQUIRED)
find_package(pinocchio REQUIRED)
find_package(sas_robot_driver_franka_interfaces REQUIRED) # Add this line find_package(sas_robot_driver_franka_interfaces REQUIRED) # Add this line
## To correctly find and link with QT ## To correctly find and link with QT
@@ -91,7 +92,7 @@ install(
##### CPP LIBRARY Motion Generation ##### ##### CPP LIBRARY Motion Generation #####
add_library(MotionGenerator src/generator/motion_generator.cpp) add_library(MotionGenerator src/generator/motion_generator.cpp)
target_link_libraries(MotionGenerator Franka::Franka Eigen3::Eigen) target_link_libraries(MotionGenerator Franka::Franka pinocchio::pinocchio Eigen3::Eigen)
add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp) add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
target_link_libraries(ConstraintsManager Eigen3::Eigen) target_link_libraries(ConstraintsManager Eigen3::Eigen)
@@ -126,6 +127,7 @@ target_link_libraries(CustomMotionGeneration
add_library(robot_interface_franka src/joint/robot_interface_franka.cpp) add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
target_link_libraries(robot_interface_franka Franka::Franka target_link_libraries(robot_interface_franka Franka::Franka
pinocchio::pinocchio
dqrobotics dqrobotics
MotionGenerator MotionGenerator
ConstraintsManager ConstraintsManager
@@ -134,6 +136,7 @@ target_link_libraries(robot_interface_franka Franka::Franka
add_library(robot_interface_hand src/hand/robot_interface_hand.cpp) add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
target_link_libraries(robot_interface_hand Franka::Franka target_link_libraries(robot_interface_hand Franka::Franka
pinocchio::pinocchio
dqrobotics) dqrobotics)
@@ -164,7 +167,9 @@ ament_target_dependencies(qros_effector_driver_franka_hand
target_link_libraries(qros_effector_driver_franka_hand target_link_libraries(qros_effector_driver_franka_hand
dqrobotics dqrobotics
Franka::Franka) Franka::Franka
pinocchio::pinocchio
)
#target_include_directories(qros_effector_driver_franka_hand #target_include_directories(qros_effector_driver_franka_hand
# PUBLIC # PUBLIC

4
src/sas_robot_driver_franka_node.cpp
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@@ -165,7 +165,7 @@ int main(int argc, char **argv)
try try
{ {
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating Franka robot."); 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, node,
robot_dynamic_provider_ptr, robot_dynamic_provider_ptr,
robot_driver_franka_configuration, robot_driver_franka_configuration,
@@ -175,7 +175,7 @@ int main(int argc, char **argv)
robot_driver_franka -> set_joint_limits(joint_limits); robot_driver_franka -> set_joint_limits(joint_limits);
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS."); RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS.");
sas::RobotDriverROS robot_driver_ros(node, sas::RobotDriverROS robot_driver_ros(node,
robot_driver_franka, robot_driver_franka,
robot_driver_ros_configuration, robot_driver_ros_configuration,
&kill_this_process); &kill_this_process);
robot_driver_ros.control_loop(); robot_driver_ros.control_loop();