Echo contact (#1)

* added cartesian interface * general fix and optimization
2024-07-19 22:34:54 -07:00
parent a68afa690d
commit e263d34c0c
25 changed files with 412 additions and 68 deletions
--- a/qt/configuration_window/mainwindow.cpp
+++ b/qt/configuration_window/mainwindow.cpp
@@ -216,9 +216,13 @@ void MainWindow::on_pushButton_connect_clicked()
    if (!robot_driver_franka_sptr_)
    {
        //qDebug()<<"Create Pointer ";
-        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(robotIp_std,
-                                                                          MODE,
-                                                                          RobotInterfaceFranka::HAND::ON);
+        RobotInterfaceFranka::FrankaInterfaceConfiguration default_config;
+        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(
+            default_config,
+            robotIp_std,
+            MODE,
+            RobotInterfaceFranka::HAND::ON
+            );

    }