qlin/sas_robot_driver_franka
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minor general bug fix

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This commit is contained in:
qlin960618
2024-08-18 20:57:24 +09:00
parent 900f6aa2e1
commit 9b2061ba01
6 changed files with 10 additions and 249 deletions
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2
src/robot_dynamics/qros_robot_dynamics_py.cpp
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@@ -40,7 +40,7 @@ using RDC = qros::RobotDynamicsClient;
using RDS = qros::RobotDynamicsServer;
PYBIND11_MODULE(_qros_robot_dynamic, m)
PYBIND11_MODULE(_qros_franka_robot_dynamic, m)
{
py::class_<RDC>(m, "RobotDynamicsClient")
.def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())

4
src/robot_dynamics/qros_robot_dynamics_server.cpp
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@@ -34,9 +34,9 @@ using namespace qros;
RobotDynamicsServer::RobotDynamicsServer(const std::shared_ptr<Node> &node, const std::string& topic_prefix):
node_(node), topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix),
child_frame_id_(topic_prefix_ + "_stiffness_frame"), parent_frame_id_(topic_prefix_ + "_base"),
world_to_base_tf_(0),
tf_broadcaster_(std::make_shared<tf2_ros::TransformBroadcaster>(node_)),
static_base_tf_broadcaster_(std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_))
static_base_tf_broadcaster_(std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_)),
world_to_base_tf_(0)
{
// Strip potential leading slash
if(child_frame_id_.front() == '/'){child_frame_id_ = child_frame_id_.substr(1);}