Echo contact (#1)

* added cartesian interface

* general fix and optimization

CMakeLists.txt

@@ -49,25 +49,25 @@ find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
 find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 
 
-add_library(MotionGenerator src/motion_generator.cpp)
+add_library(MotionGenerator src/generator/motion_generator.cpp)
 target_link_libraries(MotionGenerator Franka::Franka)
 
 
 add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
 
-add_library(QuadraticProgramMotionGenerator src/quadratic_program_motion_generator.cpp)
+add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
 target_link_libraries(QuadraticProgramMotionGenerator
                        qpOASES
                        dqrobotics
                        ConstraintsManager)
 
-add_library(CustomMotionGeneration src/custom_motion_generation.cpp)
+add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
 target_link_libraries(CustomMotionGeneration
                         qpOASES
                         dqrobotics
                         ConstraintsManager)
 
-add_library(robot_interface_franka src/robot_interface_franka.cpp)
+add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
 target_link_libraries(robot_interface_franka Franka::Franka
                       dqrobotics
                       MotionGenerator
@@ -75,7 +75,7 @@ target_link_libraries(robot_interface_franka Franka::Franka
                       QuadraticProgramMotionGenerator
                       CustomMotionGeneration)
 
-add_library(robot_interface_hand src/robot_interface_hand.cpp)
+add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
 target_link_libraries(robot_interface_hand Franka::Franka
                       dqrobotics)
 
@@ -90,25 +90,33 @@ target_link_libraries(robot_interface_hand Franka::Franka
 
 include_directories(
     include
+    include/generator
     src/
+    src/dynamic_interface
+    src/hand
+    src/joint
     ${catkin_INCLUDE_DIRS}
     constraints_manager/include
     )
 
 
+add_library(sas_robot_dynamic_provider src/dynamic_interface/sas_robot_dynamic_provider.cpp)
+target_link_libraries(sas_robot_dynamic_provider dqrobotics)
 
-add_library(sas_robot_driver_franka src/sas_robot_driver_franka.cpp)
+
+add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
 target_link_libraries(sas_robot_driver_franka
+                    sas_robot_dynamic_provider
                     dqrobotics
                     robot_interface_franka)
 
-add_library(sas_robot_driver_franka_hand src/sas_robot_driver_franka_hand.cpp)
+add_library(sas_robot_driver_franka_hand src/hand/sas_robot_driver_franka_hand.cpp)
 target_link_libraries(sas_robot_driver_franka_hand
         dqrobotics
         Franka::Franka)
 
 
-add_library(sas_robot_driver_coppelia src/sas_robot_driver_coppelia.cpp)
+add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
 target_link_libraries(sas_robot_driver_coppelia
                        dqrobotics
                        dqrobotics-interface-vrep)
@@ -142,7 +150,6 @@ add_executable(JuankaEmika
 
 target_link_libraries(JuankaEmika  PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
     dqrobotics
-
     ${catkin_LIBRARIES}
     robot_interface_franka
     )
@@ -166,6 +173,10 @@ install(TARGETS sas_robot_driver_coppelia_node
 DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(TARGETS sas_robot_driver_franka_hand_node
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

cfg/sas_robot_driver_franka_1.yaml

@@ -5,4 +5,6 @@
 "thread_sampling_time_nsec": 4000000
 "q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
 "q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-
+"force_upper_limits_scaling_factor": 4.0
+"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
+"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0]

cfg/sas_robot_driver_franka_2.yaml

@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.3"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-

cfg/sas_robot_driver_franka_3.yaml

@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.4"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-

cfg/sas_robot_driver_franka_4.yaml

@@ -1,8 +0,0 @@
-"robot_ip_address": "172.16.0.5"
-"robot_mode": "PositionControl"
-"robot_port": 5007
-"robot_speed": 20.0
-"thread_sampling_time_nsec": 4000000
-"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
-"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895]
-

include/sas_robot_driver_franka.h

@@ -43,20 +43,23 @@
 #include <sas_robot_driver/sas_robot_driver.h>
 #include "robot_interface_franka.h"
 #include <ros/common.h>
+#include "sas_robot_dynamic_provider.h"
 
 using namespace DQ_robotics;
 using namespace Eigen;
 
+struct RobotInterfaceFranka::FrankaInterfaceConfiguration;  // Forward declaration
+
 namespace sas
 {
 
-
 struct RobotDriverFrankaConfiguration
 {
     std::string ip_address;
     std::string mode;
     int port;
     double speed;
+    RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
 };
 
 
@@ -67,6 +70,8 @@ private:
 
     std::shared_ptr<RobotInterfaceFranka> robot_driver_interface_sptr_ = nullptr;
 
+    RobotDynamicProvider* robot_dynamic_provider_;
+
     //Joint positions
     VectorXd joint_positions_;
     //VectorXd joint_velocities_;
@@ -77,6 +82,9 @@ private:
 
     std::atomic_bool* break_loops_;
 
+    // hotfix function to update cartesian contact and pose information
+    void _update_stiffness_contact_and_pose() const;
+
 
 public:
     //const static int SLAVE_MODE_JOINT_CONTROL;
@@ -86,7 +94,11 @@ public:
     RobotDriverFranka()=delete;
     ~RobotDriverFranka();
 
-    RobotDriverFranka(const RobotDriverFrankaConfiguration& configuration, std::atomic_bool* break_loops);
+    RobotDriverFranka(
+        RobotDynamicProvider* robot_dynamic_provider,
+        const RobotDriverFrankaConfiguration& configuration,
+        std::atomic_bool* break_loops
+        );
 
 
     VectorXd get_joint_positions() override;

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,
+        RobotInterfaceFranka::FrankaInterfaceConfiguration default_config;
+        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(
+            default_config,
+            robotIp_std,
             MODE,
-                                                                          RobotInterfaceFranka::HAND::ON);
+            RobotInterfaceFranka::HAND::ON
+            );
 
     }
 

src/dynamic_interface/sas_robot_dynamic_provider.cpp

@@ -0,0 +1,63 @@
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
+#include "sas_robot_dynamic_provider.h"
+
+using namespace sas;
+
+RobotDynamicProvider::RobotDynamicProvider(ros::NodeHandle &nodehandle, const std::string &node_prefix):
+    RobotDynamicProvider(nodehandle, nodehandle, node_prefix)
+{
+    //Delegated
+}
+
+RobotDynamicProvider::RobotDynamicProvider(ros::NodeHandle &publisher_nodehandle, ros::NodeHandle &subscriber_nodehandle, const std::string &node_prefix):
+    node_prefix_(node_prefix)
+{
+    ROS_INFO_STREAM(ros::this_node::getName() + "::Initializing RobotDynamicProvider with prefix " + node_prefix);
+    publisher_cartesian_stiffness_ = publisher_nodehandle.advertise<geometry_msgs::WrenchStamped>(node_prefix + "/get/cartesian_stiffness", 1);
+    publisher_stiffness_pose_ = publisher_nodehandle.advertise<geometry_msgs::PoseStamped>(node_prefix + "/get/stiffness_pose", 1);
+
+}
+
+
+void RobotDynamicProvider::publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque) const
+{
+    publisher_stiffness_pose_.publish(dq_to_geometry_msgs_pose_stamped(base_to_stiffness));
+    geometry_msgs::WrenchStamped msg;
+    msg.header.stamp = ros::Time::now();
+    msg.wrench.force.x = force(0);
+    msg.wrench.force.y = force(1);
+    msg.wrench.force.z = force(2);
+    msg.wrench.torque.x = torque(0);
+    msg.wrench.torque.y = torque(1);
+    msg.wrench.torque.z = torque(2);
+    publisher_cartesian_stiffness_.publish(msg);
+}
+

src/dynamic_interface/sas_robot_dynamic_provider.h

@@ -0,0 +1,60 @@
+#pragma once
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
+#include <ros/ros.h>
+#include <ros/node_handle.h>
+#include <sas_common/sas_common.h>
+#include <sas_conversions/sas_conversions.h>
+#include <geometry_msgs/WrenchStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <dqrobotics/DQ.h>
+
+namespace sas {
+
+using namespace DQ_robotics;
+
+class RobotDynamicProvider {
+private:
+    std::string node_prefix_;
+
+    ros::Publisher publisher_cartesian_stiffness_;
+    ros::Publisher publisher_stiffness_pose_;
+
+public:
+    RobotDynamicProvider(ros::NodeHandle& nodehandle, const std::string& node_prefix=ros::this_node::getName());
+    RobotDynamicProvider(ros::NodeHandle& publisher_nodehandle, ros::NodeHandle& subscriber_nodehandle, const std::string& node_prefix=ros::this_node::getName());
+
+    void publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque) const;
+
+};
+
+
+
+} // namespace sas

src/generator/custom_motion_generation.cpp

@@ -28,9 +28,7 @@
 #
 # ################################################################
 */
-
-
-#include "custom_motion_generation.h"
+#include "generator/custom_motion_generation.h"
 
 /**
  * @brief CustomMotionGeneration::CustomMotionGeneration

src/generator/motion_generator.cpp

@@ -1,6 +1,6 @@
 // Copyright (c) 2017 Franka Emika GmbH
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#include "motion_generator.h"
+#include "generator/motion_generator.h"
 #include <algorithm>
 #include <array>
 #include <cmath>

src/generator/quadratic_program_motion_generator.cpp

@@ -1,4 +1,4 @@
-#include "quadratic_program_motion_generator.h"
+#include "generator/quadratic_program_motion_generator.h"
 
 
 QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,

src/hand/sas_robot_driver_franka_hand.cpp

@@ -1,7 +1,32 @@
-//
-// Created by qlin on 7/17/24.
-//
-
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
 #include "sas_robot_driver_franka_hand.h"
 
 namespace sas {

src/hand/sas_robot_driver_franka_hand.h

@@ -1,4 +1,33 @@
 #pragma once
+/*
+# Copyright (c) 2023 Juan Jose Quiroz Omana
+#
+#    This file is part of sas_robot_driver_franka.
+#
+#    sas_robot_driver_franka is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_robot_driver_franka is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_robot_driver.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
+#
+# ################################################################
+#
+# Contributors:
+#      1. Quenitin Lin
+#
+# ################################################################
+*/
 #include <exception>
 #include <tuple>
 #include <atomic>

src/joint/robot_interface_franka.cpp

@@ -38,13 +38,17 @@
 
 /**
  * @brief robot_driver_franka::robot_driver_franka
+ * @param configuration The configuration of the robot for setting control beheavior
  * @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,
+RobotInterfaceFranka::RobotInterfaceFranka(
+    const FrankaInterfaceConfiguration &configuration,
+    const std::string &ROBOT_IP,
     const MODE& mode,
-                                         const HAND& hand):ip_(ROBOT_IP),mode_(mode)
+    const HAND& hand
+    ):ip_(ROBOT_IP),franka_configuration_(configuration),mode_(mode)
 {
     _set_driver_mode(mode);
     if (hand == RobotInterfaceFranka::HAND::ON)
@@ -308,6 +312,16 @@ void RobotInterfaceFranka::initialize()
 
     initialize_flag_ = true;
 
+    // initialize and set the robot to default behavior (collision behavior, impedance, etc)
+    setDefaultBehavior(*robot_sptr_);
+    robot_sptr_->setCollisionBehavior(
+        franka_configuration_.lower_torque_threshold,
+        franka_configuration_.upper_torque_threshold,
+        franka_configuration_.lower_force_threshold,
+        franka_configuration_.upper_force_threshold
+        );
+    robot_sptr_->setJointImpedance(franka_configuration_.joint_impedance);
+    robot_sptr_->setCartesianImpedance(franka_configuration_.cartesian_impedance);
 
     switch (mode_)
     {
@@ -351,6 +365,19 @@ void RobotInterfaceFranka::_update_robot_state(const franka::RobotState &robot_s
     current_joint_forces_array_ = robot_state.tau_J;
     current_joint_forces_ =  Eigen::Map<VectorXd>(current_joint_forces_array_.data(), 7);
 
+    current_stiffness_force_torque_array_ = robot_state.O_F_ext_hat_K;
+    current_stiffness_force_[0] = current_stiffness_force_torque_array_[0];
+    current_stiffness_force_[1] = current_stiffness_force_torque_array_[1];
+    current_stiffness_force_[2] = current_stiffness_force_torque_array_[2];
+    current_stiffness_torque_[0] = current_stiffness_force_torque_array_[3];
+    current_stiffness_torque_[1] = current_stiffness_force_torque_array_[4];
+    current_stiffness_torque_[2] = current_stiffness_force_torque_array_[5];
+
+    current_effector_pose_array_ = robot_state.O_T_EE;
+    current_stiffness_pose_array_ = robot_state.EE_T_K;
+    current_effeector_pose_ = Eigen::Map<VectorXd>(current_effector_pose_array_.data(), 16);
+    current_stiffness_pose_ = Eigen::Map<VectorXd>(current_stiffness_pose_array_.data(), 16);
+
     robot_mode_ = robot_state.robot_mode;
     time_ = time;
 }
@@ -674,6 +701,25 @@ VectorXd RobotInterfaceFranka::get_joint_forces()
 }
 
 
+std::tuple<Vector3d, Vector3d> RobotInterfaceFranka::get_stiffness_force_torque()
+{
+    _check_if_robot_is_connected();
+    return std::make_tuple(current_stiffness_force_, current_stiffness_torque_);
+
+}
+
+
+/**
+ * @brief robot_driver_franka::get_stiffness_pose
+ * @return
+ */
+DQ RobotInterfaceFranka::get_stiffness_pose() {
+    _check_if_robot_is_connected();
+    const auto base_2_ee = homgenious_tf_to_DQ(current_effeector_pose_);
+    const auto ee_2_k = homgenious_tf_to_DQ(current_stiffness_pose_);
+    return base_2_ee * ee_2_k;
+}
+
 /**
  * @brief robot_driver_franka::get_time
  * @return

src/joint/robot_interface_franka.h

@@ -40,19 +40,46 @@
 #include <franka/robot.h>
 #include <franka/gripper.h>
 #include <franka/exception.h>
-#include "motion_generator.h"
+#include "generator/motion_generator.h"
 #include <thread>
-#include "quadratic_program_motion_generator.h"
+#include "generator/quadratic_program_motion_generator.h"
 #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
 #include <atomic>
-#include "custom_motion_generation.h"
+#include "generator/custom_motion_generation.h"
 
 using namespace DQ_robotics;
 using namespace Eigen;
 
+/**
+ * @brief get homgenious_tf_to_DQ
+ * @param pose_vector (column major)
+ * @return pose
+ */
+inline DQ homgenious_tf_to_DQ(const VectorXd& pose_vector) {
+    // VectorXd column major
+    const auto t = DQ(0,  pose_vector(12), pose_vector(13), pose_vector(14));
+    Eigen::Matrix<double, 3, 3, Eigen::ColMajor> rot_mat;
+    rot_mat << pose_vector(0), pose_vector(4), pose_vector(8),
+               pose_vector(1), pose_vector(5), pose_vector(9),
+               pose_vector(2), pose_vector(6), pose_vector(10);
+    Quaternion<double> quaternion(rot_mat);
+    const auto r = normalize(DQ(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z()));
+    return r + 0.5 * E_ * t * r;
+}
+
 class RobotInterfaceFranka
 {
-public: enum class MODE{
+public:
+    struct FrankaInterfaceConfiguration {
+        std::array<double, 7> lower_torque_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 7> upper_torque_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 6> lower_force_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 6> upper_force_threshold={10.0, 10.0, 10.0, 10.0, 10.0, 10.0};
+        std::array<double, 7> joint_impedance={3000, 3000, 3000, 2500, 2500, 2000, 2000};  // K_theta (Nm/rad)
+        std::array<double, 6> cartesian_impedance={3000, 3000, 3000, 300, 300, 300}; // K_x (N/m)
+    };
+
+    enum class MODE{
         None=0,
         PositionControl,
         VelocityControl,
@@ -64,6 +91,7 @@ public: enum class MODE{
 private:
     using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
     std::string ip_ = "172.16.0.2";
+    FrankaInterfaceConfiguration franka_configuration_;
     double speed_factor_joint_position_controller_ = 0.2;
     double speed_gripper_ = 0.02;
     VectorXd desired_joint_positions_;
@@ -78,6 +106,15 @@ private:
     VectorXd current_joint_forces_;
     std::array<double, 7> current_joint_forces_array_;
 
+    Vector3d current_stiffness_force_;
+    Vector3d current_stiffness_torque_;
+    std::array<double, 6> current_stiffness_force_torque_array_;
+
+    VectorXd current_stiffness_pose_;
+    VectorXd current_effeector_pose_;
+    std::array<double, 16> current_stiffness_pose_array_;
+    std::array<double, 16> current_effector_pose_array_;
+
     franka::RobotMode robot_mode_;
 
     double time_ = 0;
@@ -151,7 +188,11 @@ public:
     RobotInterfaceFranka() = delete;
     RobotInterfaceFranka(const RobotInterfaceFranka&) = delete;
     RobotInterfaceFranka& operator= (const RobotInterfaceFranka&) = delete;
-    RobotInterfaceFranka(const std::string &ROBOT_IP, const MODE& mode, const HAND& hand = ON);
+    RobotInterfaceFranka(
+        const FrankaInterfaceConfiguration &configuration,
+        const std::string &ROBOT_IP,
+        const MODE& mode,
+        const HAND& hand = ON);
 
 
 
@@ -187,6 +228,9 @@ public:
     VectorXd get_joint_velocities();
     VectorXd get_joint_forces();
 
+    std::tuple<Vector3d, Vector3d> get_stiffness_force_torque();
+    DQ get_stiffness_pose();
+
     double get_time();
 
     void set_target_joint_positions(const VectorXd& set_target_joint_positions_rad);

src/joint/sas_robot_driver_franka.cpp

@@ -31,7 +31,7 @@
 */
 
 
-#include "sas_robot_driver_franka.h"
+#include "../../include/sas_robot_driver_franka.h"
 #include "sas_clock/sas_clock.h"
 #include <dqrobotics/utils/DQ_Math.h>
 #include <ros/this_node.h>
@@ -39,9 +39,10 @@
 
 namespace sas
 {
-    RobotDriverFranka::RobotDriverFranka(const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops):
+    RobotDriverFranka::RobotDriverFranka(RobotDynamicProvider* robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops):
     RobotDriver(break_loops),
     configuration_(configuration),
+    robot_dynamic_provider_(robot_dynamic_provider),
     break_loops_(break_loops)
    {
         joint_positions_.resize(7);
@@ -73,14 +74,27 @@ namespace sas
         }
 
 
-        robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(configuration.ip_address,
+        robot_driver_interface_sptr_ = std::make_shared<RobotInterfaceFranka>(
+            configuration.interface_configuration,
+            configuration.ip_address,
             mode, //None, PositionControl, VelocityControl
-                                                                        RobotInterfaceFranka::HAND::OFF);
+            RobotInterfaceFranka::HAND::OFF
+        );
     }
 
     RobotDriverFranka::~RobotDriverFranka()=default;
 
 
+    void RobotDriverFranka::_update_stiffness_contact_and_pose() const
+    {
+        Vector3d force, torque;
+        std::tie(force, torque) = robot_driver_interface_sptr_->get_stiffness_force_torque();
+        const auto pose = robot_driver_interface_sptr_->get_stiffness_pose();
+        robot_dynamic_provider_->publish_stiffness(pose, force, torque);
+    }
+
+
+
     /**
      * @brief 
      * 
@@ -132,6 +146,7 @@ namespace sas
             ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
+        _update_stiffness_contact_and_pose();
         return robot_driver_interface_sptr_->get_joint_positions();
     }
 

src/sas_robot_driver_coppelia_node.cpp

@@ -39,7 +39,7 @@
 #include <sas_common/sas_common.h>
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
-#include "sas_robot_driver_coppelia.h"
+#include "coppelia/sas_robot_driver_coppelia.h"
 
 /*********************************************
  * SIGNAL HANDLER

src/sas_robot_driver_franka_node.cpp

@@ -40,6 +40,7 @@
 #include <sas_conversions/eigen3_std_conversions.h>
 #include <sas_robot_driver/sas_robot_driver_ros.h>
 #include "sas_robot_driver_franka.h"
+#include "sas_robot_dynamic_provider.h"
 
 
 /*********************************************
@@ -52,6 +53,28 @@ void sig_int_handler(int)
     kill_this_process = true;
 }
 
+template<typename T, std::size_t N>
+std::array<T, N> apply_scale_to_std_array(const std::array<T, N>& array, const T& scale)
+{
+    std::array<T, N> scaled_array;
+    for(std::size_t i = 0; i < N; i++)
+    {
+        scaled_array[i] = array[i] * scale;
+    }
+    return scaled_array;
+}
+template<typename T, std::size_t N>
+std::array<T, N> std_vec_to_std_array(const std::vector<T>& vector)
+{
+    if(N != vector.size()){throw std::runtime_error("Size mismatch between vector and array.");}
+    std::array<T, N> array;
+    for(std::size_t i = 0; i < N; i++)
+    {
+        array[i] = vector[i];
+    }
+    return array;
+}
+
 
 int main(int argc, char **argv)
 {
@@ -69,9 +92,38 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh;
     sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
+    RobotInterfaceFranka::FrankaInterfaceConfiguration franka_interface_configuration;
 
     sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
     sas::get_ros_param(nh,"/robot_mode",      robot_driver_franka_configuration.mode);
+    double upper_scale_factor = 1.0;
+    std::vector<std::string> all_params;
+    if(nh.hasParam(ros::this_node::getName()+"/force_upper_limits_scaling_factor"))
+    {
+        sas::get_ros_param(nh,"/force_upper_limits_scaling_factor",upper_scale_factor);
+        ROS_WARN_STREAM(ros::this_node::getName()+"::Set force upper limits scaling factor: " << upper_scale_factor);
+    }
+    if(nh.hasParam(ros::this_node::getName()+"/upper_torque_threshold")) {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold override and set.");
+        std::vector<double> upper_torque_threshold_std_vec;
+        sas::get_ros_param(nh,"/upper_torque_threshold",upper_torque_threshold_std_vec);
+        franka_interface_configuration.upper_torque_threshold = std_vec_to_std_array<double,7>(upper_torque_threshold_std_vec);
+    }else {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold not set. Using default with value scalling.");
+        franka_interface_configuration.upper_torque_threshold = apply_scale_to_std_array(franka_interface_configuration.upper_torque_threshold, upper_scale_factor);
+    }
+    if(nh.hasParam(ros::this_node::getName()+"/upper_force_threshold")) {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold override and set.");
+        std::vector<double> upper_torque_threshold_std_vec;
+        sas::get_ros_param(nh,"/upper_force_threshold",upper_torque_threshold_std_vec);
+        franka_interface_configuration.upper_force_threshold = std_vec_to_std_array<double,6>(upper_torque_threshold_std_vec);
+    }else {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold not set. Using default with value scalling.");
+        franka_interface_configuration.upper_force_threshold = apply_scale_to_std_array(franka_interface_configuration.upper_force_threshold, upper_scale_factor);
+    }
+
+
+    robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
 
     sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
 
@@ -79,13 +131,19 @@ int main(int argc, char **argv)
     sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
     sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
 
+    // initialize the robot dynamic provider
     robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
+    sas::RobotDynamicProvider robot_dynamic_provider(nh, robot_driver_ros_configuration.robot_driver_provider_prefix);
+
 
     try
         {
             ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka robot.");
-            sas::RobotDriverFranka robot_driver_franka(robot_driver_franka_configuration, 
-                                                        &kill_this_process);
+            sas::RobotDriverFranka robot_driver_franka(
+                &robot_dynamic_provider,
+                robot_driver_franka_configuration,
+                &kill_this_process
+            );
             //robot_driver_franka.set_joint_limits({qmin, qmax});
             ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
             sas::RobotDriverROS robot_driver_ros(nh,
@@ -96,6 +154,7 @@ int main(int argc, char **argv)
         }
     catch (const std::exception& e)
     {
+        kill_this_process = true;
         ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
     }