qlin/sas_robot_driver_franka
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[sas_robot_driver_franka_hand_node] added initialization option for not homing hand on startup

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This commit is contained in:
qlin960618
2024-12-18 15:13:33 +09:00
parent fac7dc597e
commit fc34a7a289
3 changed files with 5 additions and 1 deletions
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1
include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp
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@@ -69,6 +69,7 @@ namespace qros {
struct EffectorDriverFrankaHandConfiguration struct EffectorDriverFrankaHandConfiguration
{ {
std::string robot_ip; std::string robot_ip;
bool initialize_with_homing = true;
double thread_sampeling_time_s = 1e8; // 10Hz double thread_sampeling_time_s = 1e8; // 10Hz
double default_force = 3.0; double default_force = 3.0;
double default_speed = 0.1; double default_speed = 0.1;

2
src/hand/qros_effector_driver_franka_hand.cpp
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@@ -149,7 +149,9 @@ namespace qros
{ {
if (!_is_connected()) throw std::runtime_error( if (!_is_connected()) throw std::runtime_error(
"[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::initialize::Robot is not connected."); "[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::initialize::Robot is not connected.");
if (configuration_.initialize_with_homing) {
gripper_homing(); gripper_homing();
}
// start gripper status loop // start gripper status loop
status_loop_thread_ = std::thread(&EffectorDriverFrankaHand::_gripper_status_loop, this); status_loop_thread_ = std::thread(&EffectorDriverFrankaHand::_gripper_status_loop, this);
// check status loop with timeout // check status loop with timeout

1
src/sas_robot_driver_franka_hand_node.cpp
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@@ -81,6 +81,7 @@ int main(int argc, char **argv)
RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading parameters from parameter server."); RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading parameters from parameter server.");
qros::EffectorDriverFrankaHandConfiguration robot_driver_franka_hand_configuration; qros::EffectorDriverFrankaHandConfiguration robot_driver_franka_hand_configuration;
get_optional_parameter(node, "initialize_with_homing", robot_driver_franka_hand_configuration.initialize_with_homing);
sas::get_ros_parameter(node,"robot_ip_address",robot_driver_franka_hand_configuration.robot_ip); sas::get_ros_parameter(node,"robot_ip_address",robot_driver_franka_hand_configuration.robot_ip);
sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_franka_hand_configuration.thread_sampeling_time_s); sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_franka_hand_configuration.thread_sampeling_time_s);
sas::get_ros_parameter(node,"default_force",robot_driver_franka_hand_configuration.default_force); sas::get_ros_parameter(node,"default_force",robot_driver_franka_hand_configuration.default_force);