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

include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp

@@ -69,6 +69,7 @@ namespace qros {
 struct EffectorDriverFrankaHandConfiguration
 {
     std::string robot_ip;
+    bool initialize_with_homing = true;
     double thread_sampeling_time_s = 1e8;  // 10Hz
     double default_force = 3.0;
     double default_speed = 0.1;

src/hand/qros_effector_driver_franka_hand.cpp

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

src/sas_robot_driver_franka_hand_node.cpp

@@ -81,6 +81,7 @@ int main(int argc, char **argv)
     RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading parameters from parameter server.");
 
     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,"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);