qlin/sas_robot_driver_franka
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

more optimization..

Browse Source
This commit is contained in:
qlin1806
2024-07-21 03:52:21 -07:00
parent 46668deac2
commit fce21f08b9
9 changed files with 178 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
include/robot_dynamic/qros_robot_dynamics_provider.h
View File

@@ -36,12 +36,14 @@
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros//static_transform_broadcaster.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <geometry_msgs/Pose.h>
#include <std_msgs/Header.h>
#include <dqrobotics/DQ.h>
#define REDUCE_TF_PUBLISH_RATE 10
#define WORLD_FRAME_ID "world"
namespace qros {
@@ -57,9 +59,13 @@ private:
ros::Publisher publisher_cartesian_stiffness_;
tf2_ros::TransformBroadcaster tf_broadcaster_;
tf2_ros::StaticTransformBroadcaster static_base_tf_broadcaster_;
DQ world_to_base_tf_;
static geometry_msgs::Transform _dq_to_geometry_msgs_transform(const DQ& pose) ;
static geometry_msgs::Transform _dq_to_geometry_msgs_transform(const DQ& pose);
void _publish_base_static_tf();
public:
RobotDynamicProvider() = delete;
@@ -72,6 +78,7 @@ public:
void publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque);
void set_world_to_base_tf(const DQ& world_to_base_tf);
bool is_enabled() const;
std::string get_topic_prefix() const {return node_prefix_;}