general fix and optimization

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "constraints_manager"]
+	path = constraints_manager
+	url = https://github.com/juanjqo/constraints_manager.git

CMakeLists.txt

@@ -1,299 +1,185 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.0.2)
 project(sas_robot_driver_franka)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
 #add_compile_options(-std=c++11)
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+add_compile_options(-Werror=return-type)
-    add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
 
 
-find_package(pybind11 REQUIRED)
+#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
-find_package(ament_cmake REQUIRED)
+file(GLOB_RECURSE EXTRA_FILES */*)
-find_package(rclcpp REQUIRED)
+#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
-find_package(geometry_msgs REQUIRED)
+add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
-find_package(std_msgs REQUIRED)
+
-find_package(std_srvs REQUIRED)
+## Find catkin macros and libraries
-find_package(sas_common REQUIRED)
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-find_package(sas_core REQUIRED)
+## is used, also find other catkin packages
-find_package(sas_msgs REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
-find_package(sas_conversions REQUIRED)
+  roscpp
-find_package(Eigen3 REQUIRED)
+  rospy
-find_package(tf2_ros REQUIRED)
+  std_msgs
-find_package(tf2 REQUIRED)
+  sas_common
-find_package(sas_robot_driver REQUIRED)
+  sas_clock
+  sas_robot_driver
+  sas_patient_side_manager
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver
+)
+
 find_package(Franka REQUIRED)
-find_package(pinocchio REQUIRED)
+find_package(Eigen3 REQUIRED)
-find_package(sas_robot_driver_franka_interfaces REQUIRED)  # Add this line
+find_package(yaml-cpp REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
 
-## To correctly find and link with QT
+# To correctly find and link with QT
 set(CMAKE_PREFIX_PATH $ENV{QT_PATH})
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_AUTOUIC ON)
-if (CMAKE_VERSION VERSION_LESS "3.7.0")
+if(CMAKE_VERSION VERSION_LESS "3.7.0")
     set(CMAKE_INCLUDE_CURRENT_DIR ON)
-endif ()
+endif()
 find_package(Qt5 COMPONENTS Widgets REQUIRED)
 
-##### CPP LIBRARY initial #####
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
-include_directories(
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
-        include
-        constraints_manager/include
-)
-install(
-        DIRECTORY include/
-        DESTINATION include
-)
 
-ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Eigen3 rclcpp geometry_msgs std_msgs
-        sas_common sas_core sas_conversions sas_robot_driver_franka_interfaces
-        tf2_ros tf2 sas_robot_driver)
-
-
-##### CPP LIBRARY initial end  #####
-
-##### CPP LIBRARY ROBOT_DYNAMICS #####
-
-add_library(${PROJECT_NAME}_robot_dynamics SHARED
-        src/robot_dynamics/qros_robot_dynamics_client.cpp
-        src/robot_dynamics/qros_robot_dynamics_server.cpp
-)
-
-ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
-        rclcpp geometry_msgs std_msgs
-        sas_common sas_core sas_conversions
-        tf2_ros tf2 sas_robot_driver)
-
-
-target_include_directories(${PROJECT_NAME}_robot_dynamics
-        PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>)
-
-
-target_link_libraries(${PROJECT_NAME}_robot_dynamics
-        -ldqrobotics
-        Eigen3::Eigen
-)
-
-install(
-        TARGETS ${PROJECT_NAME}_robot_dynamics # ${PROJECT_NAME}
-        EXPORT export_${PROJECT_NAME} #export_${PROJECT_NAME}
-        LIBRARY DESTINATION lib
-        #ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin
-        INCLUDES DESTINATION include
-)
-
-##END## CPP LIBRARY ROBOT_DYNAMICS #####
-
-##### CPP LIBRARY Motion Generation  #####
 
 add_library(MotionGenerator src/generator/motion_generator.cpp)
-target_link_libraries(MotionGenerator Franka::Franka pinocchio::pinocchio Eigen3::Eigen)
+target_link_libraries(MotionGenerator Franka::Franka)
+
 
 add_library(ConstraintsManager constraints_manager/src/constraints_manager.cpp)
-target_link_libraries(ConstraintsManager Eigen3::Eigen)
-install(
-        DIRECTORY constraints_manager/include/
-        DESTINATION include/constraints_manager
-)
-target_include_directories(ConstraintsManager
-        PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/constraints_manager/include>
-        $<INSTALL_INTERFACE:include/constraints_manager>)
-
-
 
 add_library(QuadraticProgramMotionGenerator src/generator/quadratic_program_motion_generator.cpp)
 target_link_libraries(QuadraticProgramMotionGenerator
-        qpOASES
+                       qpOASES
-        dqrobotics
+                       dqrobotics
-        ConstraintsManager)
+                       ConstraintsManager)
-
 
 add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
 target_link_libraries(CustomMotionGeneration
-        qpOASES
+                        qpOASES
-        dqrobotics
+                        dqrobotics
-        ConstraintsManager)
+                        ConstraintsManager)
-
-##### CPP LIBRARY Motion Generation end  #####
-
-
-##### CPP LIBRARY franka low level interface  #####
 
 add_library(robot_interface_franka src/joint/robot_interface_franka.cpp)
 target_link_libraries(robot_interface_franka Franka::Franka
-        pinocchio::pinocchio
+                      dqrobotics
-        dqrobotics
+                      MotionGenerator
-        MotionGenerator
+                      ConstraintsManager
-        ConstraintsManager
+                      QuadraticProgramMotionGenerator
-        QuadraticProgramMotionGenerator
+                      CustomMotionGeneration)
-        CustomMotionGeneration)
 
 add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
 target_link_libraries(robot_interface_hand Franka::Franka
-        pinocchio::pinocchio
+                      dqrobotics)
-        dqrobotics)
 
 
-##### CPP LIBRARY franka low level interface end  #####
+############
+## Build ###
+############
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+
+
+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)
+
 
-##### SAS Franka Robot Driver #####
 add_library(sas_robot_driver_franka src/joint/sas_robot_driver_franka.cpp)
 target_link_libraries(sas_robot_driver_franka
-        ${PROJECT_NAME}_robot_dynamics
+                    sas_robot_dynamic_provider
+                    dqrobotics
+                    robot_interface_franka)
+
+add_library(sas_robot_driver_franka_hand src/hand/sas_robot_driver_franka_hand.cpp)
+target_link_libraries(sas_robot_driver_franka_hand
         dqrobotics
-        dqrobotics-interface-json11
+        Franka::Franka)
-        robot_interface_franka)
-
-##### SAS Franka Robot Driver end  #####
-##### qros hand effector driver #####
-
-add_library(qros_effector_driver_franka_hand src/hand/qros_effector_driver_franka_hand.cpp)
-
-ament_target_dependencies(qros_effector_driver_franka_hand
-        rclcpp sas_common sas_core std_srvs
-        sas_robot_driver_franka_interfaces
-)
-
-#ament_target_dependencies(${PROJECT_NAME}_robot_dynamics
-#        rclcpp geometry_msgs std_msgs
-#        sas_common sas_core sas_conversions
-#        tf2_ros tf2 sas_robot_driver)
-
-target_link_libraries(qros_effector_driver_franka_hand
-        dqrobotics
-        Franka::Franka
-        pinocchio::pinocchio
-)
-
-#target_include_directories(qros_effector_driver_franka_hand
-#        PUBLIC
-#        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/interface>
-#        $<INSTALL_INTERFACE:include/interface>)
-
-##### qros hand effector driver end  #####
 
 
-##### SAS Franka Robot Driver Node #####
+add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
+target_link_libraries(sas_robot_driver_coppelia
+                       dqrobotics
+                       dqrobotics-interface-vrep)
 
-add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)
+add_dependencies(sas_robot_driver_franka   ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-ament_target_dependencies(sas_robot_driver_franka_node
+add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-        rclcpp sas_common sas_core
-        sas_robot_driver)
-target_link_libraries(sas_robot_driver_franka_node sas_robot_driver_franka)
 
-install(TARGETS
+add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
-        sas_robot_driver_franka_node
+target_link_libraries(sas_robot_driver_coppelia_node
-        DESTINATION lib/${PROJECT_NAME})
+                      sas_robot_driver_coppelia
+                      ${catkin_LIBRARIES})
+
+add_executable(sas_robot_driver_franka_node src/sas_robot_driver_franka_node.cpp)                        
+target_link_libraries(sas_robot_driver_franka_node
+                      sas_robot_driver_franka
+                      ${catkin_LIBRARIES})
 
 
-##### SAS Franka Robot Hand Driver Node #####
 add_executable(sas_robot_driver_franka_hand_node src/sas_robot_driver_franka_hand_node.cpp)
-ament_target_dependencies(sas_robot_driver_franka_node
-        rclcpp sas_common sas_core)
 target_link_libraries(sas_robot_driver_franka_hand_node
-        qros_effector_driver_franka_hand)
+        sas_robot_driver_franka_hand
+        ${catkin_LIBRARIES})
 
-install(TARGETS
-        sas_robot_driver_franka_hand_node
-        DESTINATION lib/${PROJECT_NAME})
 
-##### Coppelia Mirror Node #####
-
-add_executable(sas_robot_driver_franka_coppelia_node
-    src/sas_robot_driver_coppelia_node.cpp
-    src/coppelia/sas_robot_driver_coppelia.cpp
-)
-ament_target_dependencies(sas_robot_driver_franka_coppelia_node
-        rclcpp sas_common sas_core sas_conversions sas_robot_driver
-)
-
-target_link_libraries(sas_robot_driver_franka_coppelia_node
-        dqrobotics
-        dqrobotics-interface-json11
-        dqrobotics-interface-vrep
-)
-install(TARGETS
-        sas_robot_driver_franka_coppelia_node
-        DESTINATION lib/${PROJECT_NAME})
-
-##### JuanEmika
 
 add_executable(JuankaEmika
-        qt/configuration_window/main.cpp
+  qt/configuration_window/main.cpp
-        qt/configuration_window/mainwindow.cpp
+  qt/configuration_window/mainwindow.cpp
-        qt/configuration_window/mainwindow.ui
+  qt/configuration_window/mainwindow.ui
-)
+  )
-ament_target_dependencies(sas_robot_driver_franka_node
-        rclcpp sas_common sas_core
-        sas_robot_driver)
 
-target_link_libraries(JuankaEmika PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
+target_link_libraries(JuankaEmika  PRIVATE Qt${QT_VERSION_MAJOR}::Widgets
-        dqrobotics
+    dqrobotics
-        robot_interface_franka
+    ${catkin_LIBRARIES}
-)
+    robot_interface_franka
+    )
 
-if (QT_VERSION_MAJOR EQUAL 6)
+
+
+
+if(QT_VERSION_MAJOR EQUAL 6)
     qt_finalize_executable(JuankaEmika)
-endif ()
+endif()
 
-install(TARGETS
+install(TARGETS ${PROJECT_NAME}
-        JuankaEmika
+DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        DESTINATION lib/${PROJECT_NAME})
-
-
-##### PYBIND11 LIBRARY ROBOT_DYNAMICS #####
-ament_python_install_package(${PROJECT_NAME})
-
-pybind11_add_module(_qros_franka_robot_dynamics_py SHARED
-        src/robot_dynamics/qros_robot_dynamics_py.cpp
-        src/robot_dynamics/qros_robot_dynamics_client.cpp
-        src/robot_dynamics/qros_robot_dynamics_server.cpp
 )
 
-target_include_directories(_qros_franka_robot_dynamics_py
+install(TARGETS sas_robot_driver_franka_node
-        PUBLIC
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
-        $<INSTALL_INTERFACE:include/robot_dynamics>)
-
-target_compile_definitions(_qros_franka_robot_dynamics_py PRIVATE IS_SAS_PYTHON_BUILD)
-# https://github.com/pybind/pybind11/issues/387
-target_link_libraries(_qros_franka_robot_dynamics_py PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
-
-install(TARGETS _qros_franka_robot_dynamics_py
-        DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
-)
-##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####
-
-
-install(
-        DIRECTORY include/
-        DESTINATION include
 )
 
-
+install(TARGETS sas_robot_driver_coppelia_node
-
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-
-##### LAUNCH FILES #####
-
-install(DIRECTORY
-        launch
-        DESTINATION share/${PROJECT_NAME}/
 )
 
-##END## LAUNCH FILES #####
+install(TARGETS sas_robot_driver_franka_hand_node
-
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-ament_package()
+)
-
-
-
-
-
-
 
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+)                        

README.md

@@ -1,3 +1,5 @@
 ![](https://img.shields.io/github/license/juanjqo/sas_robot_driver_franka)![](https://img.shields.io/github/contributors/juanjqo/sas_robot_driver_franka)![](https://img.shields.io/github/last-commit/juanjqo/sas_robot_driver_franka)![](https://img.shields.io/github/last-commit/juanjqo/sas_robot_driver_franka/master)![](https://img.shields.io/badge/status-experimental-red)
 # sas_robot_driver_franka
 
+
+![ezgif com-video-to-gif (1)](https://github.com/SmartArmStack/sas_robot_driver/assets/23158313/b4e1efa7-8d93-4a67-ab87-a74c41d8f4bc)

cfg/sas_robot_driver_franka_hand_1.yaml

@@ -1,3 +1,7 @@
 "robot_ip_address": "172.16.0.2"
-"thread_sampling_time_nsec": 20000000  # 20ms , 50Hz
+"robot_mode": "PositionControl"
+"robot_speed": 20.0
+"thread_sampling_time_nsec": 40000000
+"q_min": [0.00]
+"q_max": [0.04]
 

constraints_manager/LICENSE

@@ -1,165 +0,0 @@
-                   GNU LESSER GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-
-  This version of the GNU Lesser General Public License incorporates
-the terms and conditions of version 3 of the GNU General Public
-License, supplemented by the additional permissions listed below.
-
-  0. Additional Definitions.
-
-  As used herein, "this License" refers to version 3 of the GNU Lesser
-General Public License, and the "GNU GPL" refers to version 3 of the GNU
-General Public License.
-
-  "The Library" refers to a covered work governed by this License,
-other than an Application or a Combined Work as defined below.
-
-  An "Application" is any work that makes use of an interface provided
-by the Library, but which is not otherwise based on the Library.
-Defining a subclass of a class defined by the Library is deemed a mode
-of using an interface provided by the Library.
-
-  A "Combined Work" is a work produced by combining or linking an
-Application with the Library.  The particular version of the Library
-with which the Combined Work was made is also called the "Linked
-Version".
-
-  The "Minimal Corresponding Source" for a Combined Work means the
-Corresponding Source for the Combined Work, excluding any source code
-for portions of the Combined Work that, considered in isolation, are
-based on the Application, and not on the Linked Version.
-
-  The "Corresponding Application Code" for a Combined Work means the
-object code and/or source code for the Application, including any data
-and utility programs needed for reproducing the Combined Work from the
-Application, but excluding the System Libraries of the Combined Work.
-
-  1. Exception to Section 3 of the GNU GPL.
-
-  You may convey a covered work under sections 3 and 4 of this License
-without being bound by section 3 of the GNU GPL.
-
-  2. Conveying Modified Versions.
-
-  If you modify a copy of the Library, and, in your modifications, a
-facility refers to a function or data to be supplied by an Application
-that uses the facility (other than as an argument passed when the
-facility is invoked), then you may convey a copy of the modified
-version:
-
-   a) under this License, provided that you make a good faith effort to
-   ensure that, in the event an Application does not supply the
-   function or data, the facility still operates, and performs
-   whatever part of its purpose remains meaningful, or
-
-   b) under the GNU GPL, with none of the additional permissions of
-   this License applicable to that copy.
-
-  3. Object Code Incorporating Material from Library Header Files.
-
-  The object code form of an Application may incorporate material from
-a header file that is part of the Library.  You may convey such object
-code under terms of your choice, provided that, if the incorporated
-material is not limited to numerical parameters, data structure
-layouts and accessors, or small macros, inline functions and templates
-(ten or fewer lines in length), you do both of the following:
-
-   a) Give prominent notice with each copy of the object code that the
-   Library is used in it and that the Library and its use are
-   covered by this License.
-
-   b) Accompany the object code with a copy of the GNU GPL and this license
-   document.
-
-  4. Combined Works.
-
-  You may convey a Combined Work under terms of your choice that,
-taken together, effectively do not restrict modification of the
-portions of the Library contained in the Combined Work and reverse
-engineering for debugging such modifications, if you also do each of
-the following:
-
-   a) Give prominent notice with each copy of the Combined Work that
-   the Library is used in it and that the Library and its use are
-   covered by this License.
-
-   b) Accompany the Combined Work with a copy of the GNU GPL and this license
-   document.
-
-   c) For a Combined Work that displays copyright notices during
-   execution, include the copyright notice for the Library among
-   these notices, as well as a reference directing the user to the
-   copies of the GNU GPL and this license document.
-
-   d) Do one of the following:
-
-       0) Convey the Minimal Corresponding Source under the terms of this
-       License, and the Corresponding Application Code in a form
-       suitable for, and under terms that permit, the user to
-       recombine or relink the Application with a modified version of
-       the Linked Version to produce a modified Combined Work, in the
-       manner specified by section 6 of the GNU GPL for conveying
-       Corresponding Source.
-
-       1) Use a suitable shared library mechanism for linking with the
-       Library.  A suitable mechanism is one that (a) uses at run time
-       a copy of the Library already present on the user's computer
-       system, and (b) will operate properly with a modified version
-       of the Library that is interface-compatible with the Linked
-       Version.
-
-   e) Provide Installation Information, but only if you would otherwise
-   be required to provide such information under section 6 of the
-   GNU GPL, and only to the extent that such information is
-   necessary to install and execute a modified version of the
-   Combined Work produced by recombining or relinking the
-   Application with a modified version of the Linked Version. (If
-   you use option 4d0, the Installation Information must accompany
-   the Minimal Corresponding Source and Corresponding Application
-   Code. If you use option 4d1, you must provide the Installation
-   Information in the manner specified by section 6 of the GNU GPL
-   for conveying Corresponding Source.)
-
-  5. Combined Libraries.
-
-  You may place library facilities that are a work based on the
-Library side by side in a single library together with other library
-facilities that are not Applications and are not covered by this
-License, and convey such a combined library under terms of your
-choice, if you do both of the following:
-
-   a) Accompany the combined library with a copy of the same work based
-   on the Library, uncombined with any other library facilities,
-   conveyed under the terms of this License.
-
-   b) Give prominent notice with the combined library that part of it
-   is a work based on the Library, and explaining where to find the
-   accompanying uncombined form of the same work.
-
-  6. Revised Versions of the GNU Lesser General Public License.
-
-  The Free Software Foundation may publish revised and/or new versions
-of the GNU Lesser General Public License from time to time. Such new
-versions will be similar in spirit to the present version, but may
-differ in detail to address new problems or concerns.
-
-  Each version is given a distinguishing version number. If the
-Library as you received it specifies that a certain numbered version
-of the GNU Lesser General Public License "or any later version"
-applies to it, you have the option of following the terms and
-conditions either of that published version or of any later version
-published by the Free Software Foundation. If the Library as you
-received it does not specify a version number of the GNU Lesser
-General Public License, you may choose any version of the GNU Lesser
-General Public License ever published by the Free Software Foundation.
-
-  If the Library as you received it specifies that a proxy can decide
-whether future versions of the GNU Lesser General Public License shall
-apply, that proxy's public statement of acceptance of any version is
-permanent authorization for you to choose that version for the
-Library.

constraints_manager/README.md

@@ -1,2 +0,0 @@
-![](https://img.shields.io/github/license/juanjqo/constraints_manager)![](https://img.shields.io/github/contributors/juanjqo/constraints_manager)![](https://img.shields.io/github/last-commit/juanjqo/constraints_manager/main)![](https://img.shields.io/github/commit-activity/t/juanjqo/constraints_manager/main)
-# constraints_manager

constraints_manager/constraints_manager_example/CMakeLists.txt

@@ -1,22 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-
-project(constraints_manager_example LANGUAGES CXX)
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-FIND_PACKAGE(Eigen3 REQUIRED)
-INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
-ADD_COMPILE_OPTIONS(-Werror=return-type -Wall -Wextra -Wmissing-declarations -Wredundant-decls -Woverloaded-virtual)
-
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}/../include
-
-    )
-
-
-add_library(ConstraintsManager ${CMAKE_CURRENT_SOURCE_DIR}/../src/constraints_manager.cpp)
-add_executable(constraints_manager_example main.cpp)
-target_link_libraries(constraints_manager_example
-                      ConstraintsManager)
-

constraints_manager/constraints_manager_example/main.cpp

@@ -1,26 +0,0 @@
-#include <iostream>
-#include "constraints_manager.h"
-
-using namespace Eigen;
-
-int main()
-{
-    auto manager = ConstraintsManager(3);
-    auto A1 = MatrixXd::Zero(3,3);
-    auto b1 = VectorXd::Zero(3);
-    auto A2 = MatrixXd::Ones(1,3);
-    auto b2 = VectorXd::Ones(1);
-
-    manager.add_inequality_constraint(A1, b1);
-    manager.add_inequality_constraint(A2, b2);
-
-    MatrixXd A;
-    VectorXd b;
-
-    std::tie(A,b) = manager.get_inequality_constraints();
-    std::cout<<"A: "<<std::endl;
-    std::cout<<A<<std::endl;
-    std::cout<<"b: "<<std::endl;
-    std::cout<<b<<std::endl;
-
-}

constraints_manager/include/constraints_manager.h

@@ -1,67 +0,0 @@
-/*
-# Copyright (c) 2023 Juan Jose Quiroz Omana
-#
-#    constraints_manager 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.
-#
-#    constraints_manager 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 constraints_manager.  If not, see <https://www.gnu.org/licenses/>.
-#
-# ################################################################
-#
-#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
-#
-# ################################################################*/
-
-#pragma once
-#include <Eigen/Dense>
-#include <vector>
-
-
-using namespace Eigen;
-
-class ConstraintsManager
-{
-protected:
-    int dim_configuration_;
-
-    VectorXd q_dot_min_ = VectorXd::Zero(0);
-    VectorXd q_dot_max_ = VectorXd::Zero(0);
-    VectorXd q_min_ = VectorXd::Zero(0);
-    VectorXd q_max_ = VectorXd::Zero(0);
-
-    MatrixXd equality_constraint_matrix_ = MatrixXd::Zero(0,0);
-    VectorXd equality_constraint_vector_ = VectorXd::Zero(0);
-    MatrixXd inequality_constraint_matrix_ = MatrixXd::Zero(0,0);
-    VectorXd inequality_constraint_vector_ = VectorXd::Zero(0);
-
-    MatrixXd _raw_add_matrix_constraint(const MatrixXd& A0, const MatrixXd& A);
-    VectorXd _raw_add_vector_constraint(const VectorXd& b0, const VectorXd& b);
-    void _check_matrix_and_vector_sizes(const MatrixXd& A, const VectorXd& b);
-
-    void _check_vectors_size(const VectorXd& q1, const VectorXd& q2, const std::string &msg);
-    void _check_vector_initialization(const VectorXd& q, const std::string &msg);
-    MatrixXd _create_matrix(const MatrixXd& A);
-
-public:
-    ConstraintsManager() = delete;
-    ConstraintsManager(const int& dim_configuration);
-
-    void add_equality_constraint(const MatrixXd& A, const VectorXd& b);
-    void add_inequality_constraint(const MatrixXd& A, const VectorXd& b);
-
-    std::tuple<MatrixXd, VectorXd> get_equality_constraints();
-    std::tuple<MatrixXd, VectorXd> get_inequality_constraints();
-
-    void set_joint_position_limits(const VectorXd& q_lower_bound, const VectorXd& q_upper_bound);
-    void set_joint_velocity_limits(const VectorXd& q_dot_lower_bound, const VectorXd& q_dot_upper_bound);
-};
-
-

constraints_manager/src/constraints_manager.cpp

@@ -1,259 +0,0 @@
-/*
-# Copyright (c) 2023 Juan Jose Quiroz Omana
-#
-#    constraints_manager 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.
-#
-#    constraints_manager 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 constraints_manager.  If not, see <https://www.gnu.org/licenses/>.
-#
-# ################################################################
-#
-#   Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
-#
-# ################################################################*/
-
-
-#include "constraints_manager.h"
-
-/**
- * @brief Constructor
- * @param int dim_configuration Dimension of the robot configuration
- */
-ConstraintsManager::ConstraintsManager(const int& dim_configuration):dim_configuration_(dim_configuration)
-{
-
-}
-
-/**
- * @brief The method _create_matrix returns a matrix containing the matrix A
- *        and taking into acount the dimension of the robot configuration. If matrix A has lower columns than
- *        dim_configuration then _create_matrix completes the correct size with zeros.
- * @param MatrixXd A Input matrix
- * @return
- */
-MatrixXd ConstraintsManager::_create_matrix(const MatrixXd& A)
-{
-    MatrixXd constraint_matrix = MatrixXd::Zero(A.rows(), dim_configuration_);
-    constraint_matrix.block(0,0, A.rows(), A.cols()) = A;
-    return constraint_matrix;
-}
-
-
-/**
- * @brief The method _check_matrix_and_vector_sizes(A,b) check the if the rows of Matrix A
- * has the same dimension of Vector b.
- * @param MatrixXd A
- * @param VectorXd b
- */
-void ConstraintsManager::_check_matrix_and_vector_sizes(const MatrixXd& A, const VectorXd& b)
-{
-    int m = A.rows();
-    int n = A.cols();
-    int nb = b.size();
-    if (m != nb)
-    {
-        throw std::runtime_error(std::string("Incompatible sizes. The rows of Matrix A must have the same dimension of Vector b. ")
-                               + std::string("But you used A ")+ std::to_string(m)+ std::string("x")+ std::to_string(n)
-                               + std::string(" and b ")+ std::to_string(nb) + std::string("x1"));
-    }
-    if (n != dim_configuration_)
-    {
-        throw std::runtime_error(std::string("Incompatible sizes. The cols of Matrix A must have dimension ") + std::to_string(dim_configuration_)
-                                 + std::string(". But you used A ")+ std::to_string(m)+ std::string("x")+ std::to_string(n)
-                                 + std::string(" and b ")+ std::to_string(nb) + std::string("x1"));
-    }
-
-}
-
-/**
- * @brief ConstraintsManager::_check_vectors_size() checks the dimensions of two vectors.
- * @param VectorXd q1 First vector to be checked.
- * @param VectorXd q2 Second vector to be checked.
- * @param std::string msg Desired error message if vectors q1 and q2 have different size.
- */
-void ConstraintsManager::_check_vectors_size(const VectorXd& q1, const VectorXd& q2, const std::string &msg)
-{
-    if (q1.size() != q2.size() )
-    {
-       throw std::runtime_error(msg);
-    }
-}
-
-/**
- * @brief ConstraintsManager::_check_vector_initialization()
- * @param VectorXd q
- * @param std::string msg
- */
-void ConstraintsManager::_check_vector_initialization(const VectorXd& q, const std::string &msg)
-{
-    if (q.size() == 0)
-    {
-        throw std::runtime_error(msg);
-    }
-}
-
-
-/**
- * @brief The method _raw_add_matrix_constraint(A0, A) returns a constraint_matrix, which is given as
- *         constraint_matrix = [A0
- *                              A]
- * @param MatrixXd A0
- * @param MatrixXd A
- * @return MatrixXd constraint_matrix
- */
-MatrixXd ConstraintsManager::_raw_add_matrix_constraint(const MatrixXd& A0, const MatrixXd& A)
-{
-        int m = A.rows();
-        int n = A.cols();
-        int m0 = A0.rows();
-        int n0 = A0.cols();
-        MatrixXd constraint_matrix = MatrixXd::Zero(m0+m, dim_configuration_);
-        if(n != n0)
-        {
-            throw std::runtime_error(std::string("Incompatible sizes. The equality matrix must be ")
-                                   + std::string("m x ")+ std::to_string(n0)
-                                   + std::string(". But you used m x ")+ std::to_string(n));
-        }
-        constraint_matrix.block(0,0, m0, n0) = A0;
-        constraint_matrix.block(m0,0, m, n) = A;
-        return constraint_matrix;
-}
-
-
-/**
- * @brief The method _raw_add_vector_constraint(b0, b) returns the vector constraint_vector,
- *        which is given as
- *        constraint_vector = [b0
- *                             b];
- * @param VectorXd b0
- * @param VectorXd b
- * @return VectorXd constraint_vector
- */
-VectorXd ConstraintsManager::_raw_add_vector_constraint(const VectorXd& b0, const VectorXd& b)
-{
-    int nb = b.size();
-    int nb0 = b0.size();
-    VectorXd constraint_vector =  VectorXd::Zero(nb0+nb);
-    constraint_vector.head(nb0) = b0;
-    constraint_vector.segment(nb0, nb) = b;
-    return constraint_vector;
-}
-
-
-/**
- * @brief The method add_equality_constraint(A, b) adds the equality constraint A*x = b
- *        to the set of equality constraints.
- *
- * @param MatrixXd A
- * @param VectorXd b
- */
-void ConstraintsManager::add_equality_constraint(const MatrixXd& A, const VectorXd& b)
-{
-    _check_matrix_and_vector_sizes(A, b);
-
-    if (equality_constraint_matrix_.size() == 0)
-    {
-        equality_constraint_matrix_ = _create_matrix(A);
-        equality_constraint_vector_ = b;
-    }else
-    {
-        equality_constraint_matrix_ = _raw_add_matrix_constraint(equality_constraint_matrix_, A);
-        equality_constraint_vector_ = _raw_add_vector_constraint(equality_constraint_vector_, b);
-    }
-}
-
-
-
-/**
- * @brief The method add_inequality_constraint(A, b) adds the inequality constraint A*x <= b
- *        to the set of ineequality constraints.
- * @param MatrixXd A
- * @param VectorXd b
- */
-void ConstraintsManager::add_inequality_constraint(const MatrixXd& A, const VectorXd& b)
-{
-    _check_matrix_and_vector_sizes(A, b);
-
-    if (inequality_constraint_matrix_.size() == 0)
-    {
-        inequality_constraint_matrix_ = _create_matrix(A);
-        inequality_constraint_vector_ = b;
-    }else
-    {
-        inequality_constraint_matrix_ = _raw_add_matrix_constraint(inequality_constraint_matrix_, A);
-        inequality_constraint_vector_ = _raw_add_vector_constraint(inequality_constraint_vector_, b);
-    }
-}
-
-
-/**
- * @brief The method get_equality_constraints() returns the set of equality constraints
- *        composed of the Matrix A and the vector b, where
- *        A*x = b.
- *        Warning: This method deletes all the equality constraints stored.
- * @return std::tuple<MatrixXd A, VectorXd b>
- */
-std::tuple<MatrixXd, VectorXd> ConstraintsManager::get_equality_constraints()
-{
-    MatrixXd A = equality_constraint_matrix_;
-    equality_constraint_matrix_ = MatrixXd::Zero(0,0);
-    return std::make_tuple(A, equality_constraint_vector_);
-}
-
-
-/**
- * @brief The method get_inequality_constraints() returns the set of inequality constraints
- *        composed of the Matrix A and the vector b, where
- *        A*x <= b
- *        Warning: This method deletes all the inequality constraints stored.
- * @return
- */
-std::tuple<MatrixXd, VectorXd> ConstraintsManager::get_inequality_constraints()
-{
-    MatrixXd A = inequality_constraint_matrix_;
-    inequality_constraint_matrix_ = MatrixXd::Zero(0,0);
-    return std::make_tuple(A, inequality_constraint_vector_);
-}
-
-
-/**
- * @brief ConstraintsManager::set_joint_position_limits
- * @param VectorXd q_lower_bound
- * @param VectorXd q_upper_bound
- */
-void ConstraintsManager::set_joint_position_limits(const VectorXd& q_lower_bound, const VectorXd& q_upper_bound)
-{
-    _check_vectors_size(q_lower_bound, q_upper_bound,
-                          std::string("The sizes are incompatibles. q_lower_bound has size ") + std::to_string(q_lower_bound.size())
-                          + std::string(" and q_upper_bound has size ") + std::to_string(q_upper_bound.size()));
-    _check_vectors_size(q_lower_bound, VectorXd::Zero(dim_configuration_),
-                          std::string("The sizes are incompatibles. The joint limits have size ") + std::to_string(q_lower_bound.size())
-                          + std::string(" and the robot configuration has size ") + std::to_string(dim_configuration_));
-    q_min_ = q_lower_bound;
-    q_max_ = q_upper_bound;
-}
-
-/**
- * @brief ConstraintsManager::set_joint_velocity_limits
- * @param q_dot_lower_bound
- * @param q_dot_upper_bound
- */
-void ConstraintsManager::set_joint_velocity_limits(const VectorXd& q_dot_lower_bound, const VectorXd& q_dot_upper_bound)
-{
-    _check_vectors_size(q_dot_lower_bound, q_dot_upper_bound,
-                          std::string("The sizes are incompatibles. q_dot_lower_bound has size ") + std::to_string(q_dot_lower_bound.size())
-                          + std::string(" and q_dot_upper_bound has size ") + std::to_string(q_dot_upper_bound.size()));
-    _check_vectors_size(q_dot_lower_bound, VectorXd::Zero(dim_configuration_),
-                          std::string("The sizes are incompatibles. The joint limits have size ") + std::to_string(q_dot_lower_bound.size())
-                          + std::string(" and the robot configuration has size ") + std::to_string(dim_configuration_));
-    q_dot_min_ = q_dot_lower_bound;
-    q_dot_max_ = q_dot_upper_bound;
-}

include/generator/custom_motion_generation.h

@@ -32,13 +32,13 @@
 
 #pragma once
 #include <array>
-#include <eigen3/Eigen/Core>
+#include <Eigen/Core>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
 #include <vector>
 #include <iostream>
 #include <dqrobotics/solvers/DQ_QPOASESSolver.h>
 #include <memory>
-#include <constraints_manager.h>
+#include "constraints_manager.h"
 
 
 using namespace DQ_robotics;

include/generator/motion_generator.h

@@ -4,8 +4,8 @@
 
 #include <array>
 
-#include <eigen3/Eigen/Core>
+#include <Eigen/Core>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
 #include <franka/control_types.h>
 #include <franka/duration.h>
 #include <franka/robot.h>

include/generator/quadratic_program_motion_generator.h

@@ -1,7 +1,7 @@
 #pragma once
 #include <array>
-#include <eigen3/Eigen/Core>
+#include <Eigen/Core>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
 #include <vector>
 #include <iostream>
 #include <dqrobotics/solvers/DQ_QPOASESSolver.h>

include/sas_robot_driver_franka.h

@@ -40,10 +40,10 @@
 
 #include <dqrobotics/DQ.h>
 
-#include <sas_core/sas_robot_driver.hpp>
+#include <sas_robot_driver/sas_robot_driver.h>
-#include <sas_robot_driver_franka/interfaces/robot_interface_franka.hpp>
+#include "robot_interface_franka.h"
-#include <rclcpp/rclcpp.hpp>
+#include <ros/common.h>
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
+#include "sas_robot_dynamic_provider.h"
 
 using namespace DQ_robotics;
 using namespace Eigen;
@@ -60,20 +60,17 @@ struct RobotDriverFrankaConfiguration
     int port;
     double speed;
     RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
-    DQ robot_reference_frame = DQ(0);
 };
 
 
-class RobotDriverFranka: public sas::RobotDriver
+class RobotDriverFranka: public RobotDriver
 {
 private:
-    std::shared_ptr<Node> node_;
-
     RobotDriverFrankaConfiguration configuration_;
 
     std::shared_ptr<RobotInterfaceFranka> robot_driver_interface_sptr_ = nullptr;
 
-    std::shared_ptr<qros::RobotDynamicsServer> robot_dynamic_provider_sptr_;
+    RobotDynamicProvider* robot_dynamic_provider_;
 
     //Joint positions
     VectorXd joint_positions_;
@@ -89,8 +86,6 @@ private:
     void _update_stiffness_contact_and_pose() const;
 
 
-
-
 public:
     //const static int SLAVE_MODE_JOINT_CONTROL;
     //const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
@@ -100,8 +95,7 @@ public:
     ~RobotDriverFranka();
 
     RobotDriverFranka(
-        const std::shared_ptr<Node> &node,
+        RobotDynamicProvider* robot_dynamic_provider,
-        const std::shared_ptr<qros::RobotDynamicsServer> &robot_dynamic_provider,
         const RobotDriverFrankaConfiguration& configuration,
         std::atomic_bool* break_loops
         );
@@ -113,7 +107,7 @@ public:
     VectorXd get_joint_velocities() override;
     void set_target_joint_velocities(const VectorXd& desired_joint_velocities) override;
 
-    VectorXd get_joint_torques() override;
+    VectorXd get_joint_forces() override;
 
     void connect() override;
     void disconnect() override;

include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp

@@ -1,139 +0,0 @@
-/*
-# 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. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
-#         - Adapted from sas_robot_driver_denso.cpp
-#           (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso.cpp)
-#
-# ################################################################
-*/
-
-
-#pragma once
-#include <exception>
-#include <tuple>
-#include <atomic>
-#include <vector>
-#include <memory>
-#include <dqrobotics/DQ.h>
-#include <sas_core/sas_clock.hpp>
-// #include <dqrobotics/interfaces/vrep/DQ_VrepRobot.h>
-#include <dqrobotics/interfaces/vrep/DQ_VrepInterface.h>
-#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
-// #include <dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h>
-#include <thread>
-#include <atomic>
-#include <sas_robot_driver/sas_robot_driver_server.hpp>
-#include <sas_robot_driver/sas_robot_driver_client.hpp>
-
-#define VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_SEC 0.002  // 2ms, 500Hz
-#define REAL_ROBOT_INTERFACE_INIT_TIMEOUT_COUNT 500
-using namespace DQ_robotics;
-using namespace Eigen;
-
-namespace qros
-{
-
-
-
-struct RobotDriverCoppeliaConfiguration
-{
-
-    double thread_sampling_time_sec;  // frontend vrep update rate
-    int vrep_port;
-    std::string vrep_ip;
-    std::vector<std::string> vrep_joint_names;
-    bool vrep_dynamically_enabled = false;
-    std::string robot_mode;
-    bool using_real_robot;
-    std::string robot_topic_prefix;
-    std::string robot_parameter_file_path;
-    // VectorXd q_min;
-    // VectorXd q_max;
-};
-
-class RobotDriverCoppelia
-{
-private:
-    enum ControlMode{
-        Position=0,
-        Velocity
-    };
-
-    RobotDriverCoppeliaConfiguration configuration_;
-    std::shared_ptr<Node> node_sptr_;
-
-    sas::Clock clock_;
-    std::atomic_bool* break_loops_;
-    bool _should_shutdown() const {return (*break_loops_);}
-    ControlMode robot_mode_;
-
-    std::shared_ptr<DQ_VrepInterface> vi_;
-    std::shared_ptr<sas::RobotDriverClient> real_robot_interface_ = nullptr;
-    std::shared_ptr<sas::RobotDriverServer> robot_provider_ = nullptr;
-
-    // backend thread for simulaton
-    /**
-     * Current simulation mechanism is not accounting for any robot dynamics, just the joint limits
-     */
-    std::thread velocity_control_simulation_thread_;
-    VectorXd simulated_joint_positions_;
-    VectorXd simulated_joint_velocities_;
-    void start_simulation_thread();  // thread entry point
-    void _velocity_control_simulation_thread_main();
-    std::atomic_bool simulation_thread_started_{false};
-
-    bool initialized_ = false;
-    inline void _assert_initialized() const{
-        if (!initialized_){throw std::runtime_error("[RobotDriverCoppelia] Robot driver not initialized");}
-    }
-    inline void _assert_is_alive() const{
-        if(!configuration_.using_real_robot && !simulation_thread_started_){throw std::runtime_error("[RobotDriverCoppelia] Robot Simulation is not alive");}
-    }
-
-    void _start_control_loop();
-protected:
-    inline void _update_vrep_position(const VectorXd &joint_positions, const bool& force_update=false) const;
-    inline void _update_vrep_velocity(const VectorXd & joint_velocity) const;
-
-public:
-    RobotDriverCoppelia(const RobotDriverCoppelia&)=delete;
-    RobotDriverCoppelia()=delete;
-    ~RobotDriverCoppelia();
-
-    RobotDriverCoppelia(const std::shared_ptr<Node> &node_sptr, const RobotDriverCoppeliaConfiguration& configuration, std::atomic_bool* break_loops);
-
-    int start_control_loop();  // public entry point
-
-    void connect();
-    void disconnect();
-
-    void initialize();
-    void deinitialize();
-
-    std::tuple<VectorXd, VectorXd> joint_limits_;
-
-};
-}

include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp

@@ -1,145 +0,0 @@
-#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>
-#include <vector>
-#include <memory>
-#include <franka/robot.h>
-#include <franka/gripper.h>
-#include <thread>
-#include <mutex>
-
-// #define BLOCK_READ_IN_USED
-// #define IN_TESTING
-
-// #include <sas_robot_driver/sas_robot_driver.h>
-#include <sas_core/sas_clock.hpp>
-
-#include <rclcpp/service.hpp>
-#include <rclcpp/rclcpp.hpp>
-
-#ifdef IN_TESTING
-#include "local/srv/grasp.hpp"
-#include "local/srv/move.hpp"
-#include "local/msg/gripper_state.hpp"
-#else
-#include <sas_robot_driver_franka_interfaces/srv/grasp.hpp>
-#include <sas_robot_driver_franka_interfaces/srv/move.hpp>
-#include <sas_robot_driver_franka_interfaces/msg/gripper_state.hpp>
-#endif
-#include <std_srvs/srv/trigger.hpp>
-
-// using namespace DQ_robotics;
-// using namespace Eigen;
-using namespace rclcpp;
-using namespace sas_robot_driver_franka_interfaces;
-
-
-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;
-    double default_epsilon_inner = 0.005;
-    double default_epsilon_outer = 0.005;
-};
-
-class EffectorDriverFrankaHand{
-private:
-    std::string driver_node_prefix_;
-    EffectorDriverFrankaHandConfiguration configuration_;
-    std::shared_ptr<Node> node_;
-
-    std::shared_ptr<franka::Gripper> gripper_sptr_;
-
-
-    std::atomic_bool* break_loops_;
-
-    bool _is_connected() const;
-
-    // thread specific functions
-    void _gripper_status_loop();
-    std::thread status_loop_thread_;
-    std::atomic_bool status_loop_running_{false};
-
-    Publisher<msg::GripperState>::SharedPtr gripper_status_publisher_;
-
-    std::mutex gripper_in_use_;
-    Service<srv::Grasp>::SharedPtr grasp_srv_;
-    Service<srv::Move>::SharedPtr move_srv_;
-    Service<std_srvs::srv::Trigger>::SharedPtr homing_srv_;
-
-public:
-
-    bool _grasp_srv_callback(
-        const std::shared_ptr<srv::Grasp::Request> &req,
-        std::shared_ptr<srv::Grasp::Response> res
-        );
-
-    bool _move_srv_callback(
-        const std::shared_ptr<srv::Move::Request> &req,
-        std::shared_ptr<srv::Move::Response> res
-        );
-
-    bool _home_srv_callback(
-        const std::shared_ptr<std_srvs::srv::Trigger::Request> &req,
-        std::shared_ptr<std_srvs::srv::Trigger::Response> res
-        );
-
-    EffectorDriverFrankaHand(const EffectorDriverFrankaHand&)=delete;
-    EffectorDriverFrankaHand()=delete;
-    ~EffectorDriverFrankaHand();
-
-    EffectorDriverFrankaHand(
-        const std::string &driver_node_prefix,
-        const EffectorDriverFrankaHandConfiguration& configuration,
-        std::shared_ptr<Node> node,
-        std::atomic_bool* break_loops);
-
-    void start_control_loop();
-
-    void gripper_homing();
-
-
-    void connect() ;
-    void disconnect() noexcept;
-
-    void initialize() ;
-    void deinitialize() ;
-};
-
-} // qros
-

include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp

@@ -1,96 +0,0 @@
-#pragma once
-/*
-# Copyright (c) 2024 Quenitin Lin
-#
-#    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: Quenitin Lin
-#
-# ################################################################
-#
-# Contributors:
-#      1. Quenitin Lin
-#
-# ################################################################
-*/
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/node.hpp>
-// #include <sas_common/sas_common.hpp>
-#include <sas_conversions/sas_conversions.hpp>
-#include <geometry_msgs/msg/wrench_stamped.hpp>
-#include <geometry_msgs/msg/transform.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/time.h>
-// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <geometry_msgs/msg/pose.hpp>
-#include <std_msgs/msg/header.hpp>
-#include <dqrobotics/DQ.h>
-
-#define BUFFER_DURATION_DEFAULT_S 2.0   // 2 second
-
-using namespace rclcpp;
-namespace qros {
-
-using namespace DQ_robotics;
-
-class RobotDynamicsClient {
-private:
-    std::shared_ptr<Node> node_;
-
-    std::string topic_prefix_;
-    std::string child_frame_id_;
-    std::string parent_frame_id_;
-
-    Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr subscriber_cartesian_stiffness_;
-    std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-    std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
-
-
-    static geometry_msgs::msg::Transform _dq_to_geometry_msgs_transform(const DQ& pose) ;
-
-    Vector3d last_stiffness_force_;
-    Vector3d last_stiffness_torque_;
-    DQ last_stiffness_frame_pose_;
-
-    void _callback_cartesian_stiffness(const geometry_msgs::msg::WrenchStamped &msg);
-
-    static DQ _geometry_msgs_transform_to_dq(const geometry_msgs::msg::Transform& transform);
-
-public:
-    RobotDynamicsClient() = delete;
-    RobotDynamicsClient(const RobotDynamicsClient&) = delete;
-// #ifdef BUILD_PYBIND
-//     explicit RobotDynamicsClient(const std::string& node_prefix):RobotDynamicsClient(sas::common::get_static_node_handle(),node_prefix){}
-// #endif
-    explicit RobotDynamicsClient(const std::shared_ptr<Node> &node,  const std::string& topic_prefix="GET_FROM_NODE");
-
-    VectorXd get_stiffness_force();
-    VectorXd get_stiffness_torque();
-    DQ get_stiffness_frame_pose();
-
-    bool is_enabled() const;
-    std::string get_topic_prefix() const {return topic_prefix_;}
-
-};
-
-
-
-} // namespace sas

include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp

@@ -1,90 +0,0 @@
-#pragma once
-/*
-# Copyright (c) 2024 Quenitin Lin
-#
-#    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: Quenitin Lin
-#
-# ################################################################
-#
-# Contributors:
-#      1. Quenitin Lin
-#
-# ################################################################
-*/
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/node.hpp>
-// #include <sas_common/sas_common.hpp>
-#include <sas_conversions/sas_conversions.hpp>
-#include <geometry_msgs/msg/wrench_stamped.hpp>
-#include <geometry_msgs/msg/transform.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_ros//static_transform_broadcaster.h>
-#include <geometry_msgs/msg/pose.hpp>
-#include <std_msgs/msg/header.hpp>
-#include <dqrobotics/DQ.h>
-
-#define REDUCE_TF_PUBLISH_RATE 10
-#define WORLD_FRAME_ID "world"
-using namespace rclcpp;
-
-namespace qros {
-
-using namespace DQ_robotics;
-
-class RobotDynamicsServer {
-private:
-    unsigned int seq_ = 0;
-    std::shared_ptr<Node> node_;
-
-    std::string topic_prefix_;
-    std::string child_frame_id_;
-    std::string parent_frame_id_;
-
-    rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr publisher_cartesian_stiffness_;
-    std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
-    std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_base_tf_broadcaster_;
-
-    DQ world_to_base_tf_ = DQ(0);
-
-    static geometry_msgs::msg::Transform _dq_to_geometry_msgs_transform(const DQ& pose);
-
-    void _publish_base_static_tf();
-
-public:
-    RobotDynamicsServer() = delete;
-    RobotDynamicsServer(const RobotDynamicsServer&) = delete;
-// #ifdef BUILD_PYBIND
-    // explicit RobotDynamicsServer(const std::string& node_prefix):RobotDynamicsServer(sas::common::get_static_node_handle(),node_prefix){}
-// #endif
-    explicit RobotDynamicsServer(const std::shared_ptr<Node> &node,  const std::string& topic_prefix="GET_FROM_NODE");
-
-    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 topic_prefix_;}
-
-};
-
-
-
-} // namespace sas

launch/sas_robot_driver_franka_example.py

@@ -1,45 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-import os
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='sas_robot_driver_franka',
-            executable='sas_robot_driver_franka_node',
-            name='arm3',
-            parameters=[{
-                "robot_ip_address": "172.16.0.4",
-                "thread_sampling_time_sec": 0.004,
-                # "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],
-                "robot_mode": "VelocityControl",
-                "robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
-            }],
-            output="screen"
-        ),
-        Node(
-            package='sas_robot_driver_franka',
-            executable='sas_robot_driver_franka_coppelia_node',
-            name='arm3_coppelia',
-            parameters=[{
-                "thread_sampling_time_sec": 0.008,
-                "vrep_ip": os.environ["VREP_IP"],
-                "vrep_port": 20012,
-                "vrep_dynamically_enabled": True,
-                "using_real_robot": True,
-                "vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
-                                     "Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"],
-                "robot_topic_prefix": "/arm3",
-                "robot_mode": "VelocityControl",
-                "robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
-            }],
-            output="screen"
-        ),
-
-    ])

launch/sas_robot_driver_franka_hand_1.launch

@@ -6,5 +6,12 @@
 <rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_franka_hand_1.yaml" command="load"
 />
 
+
+
 </node>
+
+
+
+
+
 </launch>

launch/sas_robot_driver_franka_hand_example.py

@@ -1,24 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-import os
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='sas_robot_driver_franka',
-            executable='sas_robot_driver_franka_hand_node',
-            name='arm3_hand',
-            parameters=[{
-                "robot_ip_address": "172.16.0.2",
-                # "thread_sampling_time_nsec": 20000000,  # 20ms , 50Hz
-                "thread_sampling_time_sec": 0.02,
-                "default_force": 2.0,
-                "default_speed": 0.07,
-                "default_epsilon_inner": 0.007,
-                "default_epsilon_outer": 0.007,
-            }],
-            output="screen"
-        ),
-
-    ])

launch/sas_robot_driver_franka_simulation_example.py

@@ -1,27 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-import os
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='sas_robot_driver_franka',
-            executable='sas_robot_driver_franka_coppelia_node',
-            name='arm3_coppelia',
-            parameters=[{
-                "thread_sampling_time_sec": 0.008,
-                "vrep_ip": os.environ["VREP_IP"],
-                "vrep_port": 20012,
-                "vrep_dynamically_enabled": True,
-                "using_real_robot": False,
-                "vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
-                                     "Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"],
-                "robot_topic_prefix": "/arm3",
-                "robot_mode": "VelocityControl",
-                "robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
-            }],
-            output="screen"
-        ),
-
-    ])

package.xml

@@ -1,32 +1,84 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
-<package format="3">
   <name>sas_robot_driver_franka</name>
   <version>0.0.0</version>
   <description>The sas_driver_franka package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="moonshot@todo.todo">moonshot</maintainer>
 
-  <license>LGPLv3</license>
-  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
+  <!-- One license tag required, multiple allowed, one license per tag -->
-  <depend>rclpy</depend>
+  <!-- Commonly used license strings: -->
-  <depend>tf2_ros</depend>
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <depend>tf2</depend>
+  <license>TODO</license>
-  <depend>std_msgs</depend>
-  <depend>sas_core</depend>
-  <depend>sas_robot_driver</depend>
-  <depend>sas_common</depend>
-  <depend>sas_robot_driver_franka_interface</depend>
 
 
-  <test_depend>ament_lint_auto</test_depend>
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <test_depend>ament_lint_common</test_depend>
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <test_depend>ament_copyright</test_depend>
+  <!-- Example: -->
-  <test_depend>ament_flake8</test_depend>
+  <!-- <url type="website">http://wiki.ros.org/sas_driver_franka</url> -->
-  <test_depend>ament_pep257</test_depend>
 
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sas_clock</build_depend>
+  <build_depend>sas_robot_driver</build_depend>
+  <build_depend>sas_common</build_depend>
+  <build_depend>sas_patient_side_manager</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>sas_clock</build_export_depend>
+  <build_export_depend>sas_robot_driver</build_export_depend>
+  <build_export_depend>sas_common</build_export_depend>
+  <build_export_depend>sas_patient_side_manager</build_export_depend>
+
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sas_clock</exec_depend>
+  <exec_depend>sas_robot_driver</exec_depend>
+  <exec_depend>sas_common</exec_depend>
+  <exec_depend>sas_patient_side_manager</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <build_type>ament_cmake</build_type>
+    <!-- Other tools can request additional information be placed here -->
+
   </export>
-</package>
+</package>

qt/configuration_window/mainwindow.h

@@ -7,7 +7,7 @@
 
 #include <QMainWindow>
 #include "qspinbox.h"
-#include <sas_robot_driver_franka/interfaces/robot_interface_franka.hpp>
+#include "robot_interface_franka.h"
 
 QT_BEGIN_NAMESPACE
 namespace Ui { class MainWindow; }

sas_robot_driver_franka/__init__.py

@@ -1,229 +0,0 @@
-"""
-"""
-from typing import Union
-
-from sas_robot_driver_franka._qros_franka_robot_dynamics_py import RobotDynamicsClient, RobotDynamicsServer
-
-import rclpy
-from rclpy.node import Node
-from rclpy.client import Client
-from sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown
-from sas_robot_driver_franka_interfaces.srv import Move, Grasp
-from std_srvs.srv import Trigger
-from sas_robot_driver_franka_interfaces.msg import GripperState
-import os
-import threading
-from queue import Queue
-import time
-import struct
-
-MOVE_TOPIC_SUFFIX = "move"
-GRASP_TOPIC_SUFFIX = "grasp"
-STATUS_TOPIC_SUFFIX = "gripper_status"
-
-
-class FrankaGripperInterface:
-    """
-    Non blocking interface to control the Franka gripper
-    """
-
-    def __init__(self, node: Node, robot_prefix):
-        self.last_message = None
-        self.robot_prefix = robot_prefix
-        self.node = node
-        self.move_service = node.create_client(Move, os.path.join(robot_prefix, MOVE_TOPIC_SUFFIX))
-        self._moving = False
-        self.grasp_service = node.create_client(Grasp, os.path.join(robot_prefix, GRASP_TOPIC_SUFFIX))
-        self._grasping = False
-        self.home_service = node.create_client(Trigger, os.path.join(robot_prefix, "homing"))
-        self._homing = False
-        self.status_subscriber = node.create_subscription(GripperState, os.path.join(robot_prefix, STATUS_TOPIC_SUFFIX),
-                                                          self._status_callback, 10)
-
-        self.service_future: Union[rclpy.Future, None] = None
-
-        # gripper state
-        self.state_width = None
-        self.state_max_width = None
-        self.state_temperature = None
-        self.state_is_grasped = None
-        self.spin_handler = self._default_spin_handler
-
-    def _default_spin_handler(self):
-        rclpy.spin_once(self.node)
-
-    def _is_service_ready(self, service: Client):
-        try:
-            # self.node.get_logger().info("Waiting for service: " + service.service_name)
-            ret = service.wait_for_service(timeout_sec=0.1)
-            return ret
-        except Exception as e:
-            self.node.get_logger().info("Service error: " + service.service_name + ": " + str(e))
-            return False
-
-    def is_enabled(self):
-        if self.state_width is None:
-            return False
-        if not self._is_service_ready(self.move_service):
-            return False
-        if not self._is_service_ready(self.grasp_service):
-            return False
-        return True
-
-    def _status_callback(self, msg: GripperState):
-        self.state_width = msg.width
-        self.state_max_width = msg.max_width
-        self.state_temperature = msg.temperature
-        self.state_is_grasped = msg.is_grasped
-    def home(self):
-        """
-        Reinitialize the gripper
-        :return: None
-        """
-        if self.is_busy():
-            raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
-        self._home()
-
-    def move(self, width, speed=0):
-        """
-        Move the gripper to a specific width
-        :param width: width in meters
-        :param speed: speed in meters per second
-        :return: None
-        """
-        if self.is_busy():
-            raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
-        self._move(width, speed)
-
-    def grasp(self, width, force=0, speed=0, epsilon_inner=0, epsilon_outer=0):
-        """
-        Grasp an object with the gripper
-        :param width:
-        :param force:
-        :param speed:
-        :param epsilon_inner:
-        :param epsilon_outer:
-        :return:
-        """
-        if self.is_busy():
-            raise Exception("Gripper is already moving or grasping, please wait until the previous action is finished")
-        self._grasp(width, force, speed, epsilon_inner, epsilon_outer)
-
-    def get_max_width(self):
-        """ Get the maximum width of the gripper """
-        if not self.is_enabled():
-            raise Exception("Gripper is not enabled")
-        return self.state_max_width
-
-    def get_width(self):
-        """ Get the current width of the gripper """
-        if not self.is_enabled():
-            raise Exception("Gripper is not enabled")
-        return self.state_width
-
-    def get_temperature(self):
-        """ Get the temperature of the gripper """
-        if not self.is_enabled():
-            raise Exception("Gripper is not enabled")
-        return self.state_temperature
-
-    def is_grasped(self):
-        """ Check if an object is grasped """
-        if not self.is_enabled():
-            raise Exception("Gripper is not enabled")
-        return self.state_is_grasped
-
-    def is_moving(self):
-        """ Check if the gripper is currently moving """
-        return self._moving
-
-    def is_grasping(self):
-        """ Check if the gripper is currently grasping """
-        return self._grasping
-
-    def is_busy(self):
-        """ Check if the gripper is currently moving or grasping """
-        return self._moving or self._grasping or self.service_future is not None
-
-    def is_done(self):
-        """ Check if the gripper is done moving or grasping """
-        if not self.is_busy():
-            self.node.get_logger().warn("Gripper is not moving or grasping")
-            return False
-        else:
-            if self.service_future is not None:
-                if self.service_future.done():
-                    return True
-                return False
-            else:
-                return True
-
-    def get_result(self):
-        """
-        Get the result of the last action
-        :return:
-        """
-        if self.service_future is not None:
-            if self.service_future.done():
-                response = self.service_future.result()
-                if isinstance(response, Move.Response):
-                    self._moving = False
-                elif isinstance(response, Grasp.Response):
-                    self._grasping = False
-                elif isinstance(response, Trigger.Response):
-                    self._homing = False
-                else:
-                    raise Exception("Invalid response type")
-                self.service_future = None
-                self.last_message = hasattr(response, "message") and response.message or ""
-                return response.success
-            else:
-                raise Exception("No result available")
-        else:
-            raise Exception("No result available")
-    def get_last_message(self):
-        return self.last_message
-
-    def wait_until_done(self):
-        """
-        Wait until the gripper is done moving or grasping
-        :return: success
-        """
-        if not self.is_enabled():
-            raise Exception("Gripper is not enabled")
-        if not self.is_busy():
-            return
-        while not self.is_done():
-            self.spin_handler()
-            time.sleep(0.01)
-    def _home(self):
-        self._homing = True
-        # self.node.get_logger().info("Homing gripper")
-        request = Trigger.Request()
-        # self.node.get_logger().info("Calling home service")
-        self.service_future = self.home_service.call_async(request)
-
-    def _move(self, width, speed):
-        self._moving = True
-        # self.node.get_logger().info("Moving gripper to width: " + str(width) + " speed: " + str(speed))
-        request = Move.Request()
-        request.width = float(width)
-        request.speed = float(speed)
-        # self.node.get_logger().info("Calling move service")
-        self.service_future = self.move_service.call_async(request)
-
-    def _grasp(self, width, force, speed, epsilon_inner, epsilon_outer):
-        self._grasping = True
-        # self.node.get_logger().info("Grasping object at width: " + str(width) + " force: " + str(force) + " speed: " + str(speed))
-        request = Grasp.Request()
-        request.width = float(width)
-        request.force = float(force)
-        request.speed = float(speed)
-        request.epsilon_inner = float(epsilon_inner)
-        request.epsilon_outer = float(epsilon_outer)
-        # self.node.get_logger().info("Calling grasp service")
-        self.service_future = self.grasp_service.call_async(request)
-
-
-    def set_spin_handler(self, spin_handler):
-        self.spin_handler = spin_handler

scripts/example_gripper_control.py

@@ -1,71 +0,0 @@
-import threading
-
-import rclpy
-from sas_robot_driver_franka import FrankaGripperInterface
-import time
-
-
-def main_loop(node):
-    iteration_ = 0
-    node_name = node.get_name()
-    hand1 = FrankaGripperInterface(node, "/franka_hand_1")
-    logger = rclpy.node.get_logger(node_name)
-
-    while not hand1.is_enabled():
-        logger.info("Waiting for gripper to be enabled...")
-        time.sleep(0.1)
-    rclpy.node.get_logger(node_name).info("Gripper enabled!")
-
-    def spin_all(node_):
-        while rclpy.ok():
-            rclpy.spin_once(node_, timeout_sec=0.1)
-            time.sleep(0.1)
-            
-    thread = threading.Thread(target=spin_all, args=(node, ), daemon=True)
-    thread.start()
-    
-    rate = node.create_rate(2)
-
-    while rclpy.ok():
-        logger.info("Main loop running...")
-
-        # Get the temperature of the gripper
-        temperature = hand1.get_temperature()
-        logger.info(f"Temperature: {temperature}")
-        max_width = hand1.get_max_width()
-        logger.info(f"Max width: {max_width}")
-        width = hand1.get_width()
-        logger.info(f"Width: {width}")
-        is_grasped = hand1.is_grasped()
-        logger.info(f"Is grasped: {is_grasped}")
-        is_moving = hand1.is_moving()
-        logger.info(f"Is moving: {is_moving}")
-        is_grasping = hand1.is_grasping()
-        logger.info(f"Is grasping: {is_grasping}")
-        logger.warn("calling move(0.01)")
-        if not hand1.is_busy():
-            hand1.grasp(0.01)
-        else:
-            logger.warn("Gripper is busy. Waiting...")
-        result_ready = hand1.is_done()
-        if not result_ready:
-            logger.info("Waiting for gripper to finish moving...")
-        else:
-            result = hand1.get_result()
-            logger.info(f"Result: {result}")
-
-
-        # Check if there is a response in the queue
-
-        iteration_ += 1
-        rate.sleep()
-
-    rclpy.shutdown()
-    thread.join()
-
-
-if __name__ == "__main__":
-    rclpy.init()
-    node_name_ = "example_gripper_control_node"
-    NODE = rclpy.create_node(node_name_)
-    main_loop(NODE)

scripts/publish_dumy_robot_dynmaics.py

@@ -1,46 +0,0 @@
-import time
-
-import rclpy
-from sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown
-from sas_robot_driver_franka import RobotDynamicsClient, RobotDynamicsServer
-import dqrobotics as dql
-import numpy as np
-
-
-
-
-if __name__ == "__main__":
-    rclcpp_init()
-    rclpy.init()
-    sas_node = rclcpp_Node("dummy_robot_dynamics_server_sas")
-    node = rclpy.create_node("dummy_robot_dynamics_server")
-    dynam_provider = RobotDynamicsServer(sas_node, "/franka1")
-
-    t = dql.DQ([0, 0, 1])
-    r = dql.DQ([1, 0, 0, 0])
-    base_pose = r + 0.5 * dql.E_ * t * r
-    dynam_provider.set_world_to_base_tf(base_pose)
-    t_ = 0
-    node.get_logger().info("Dummy robot dynamics server started")
-    r = dql.DQ([0, 0, 0, 1])
-    rate = node.create_rate(100)
-    dummy_force = np.random.rand(3) * 100
-    dummy_torque = np.random.rand(3) * 10
-    try:
-        while rclpy.ok():
-            t = dql.DQ([1, 2, 1]) + dql.i_ * np.sin(t_/2/np.pi) + dql.j_ * np.cos(t_/2/np.pi)
-            ee_pose = r + 0.5 * dql.E_ * t * r
-            dummy_force = dummy_force * 0.9 + np.random.rand(3) * 10
-            dummy_torque = dummy_torque * 0.9 + np.random.rand(3) * 1
-            dynam_provider.publish_stiffness(ee_pose, dummy_force, dummy_torque)
-            rclcpp_spin_some(sas_node)
-            rclpy.spin_once(node)
-            t_ += 0.01
-            time.sleep(0.1)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        rclcpp_shutdown()
-        node.destroy_node()
-        rclpy.shutdown()
-

scripts/subscribe_dummy_dynamic.py

@@ -1,53 +0,0 @@
-import time
-
-import rclpy
-from sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown
-from sas_robot_driver_franka import RobotDynamicsClient, RobotDynamicsServer
-import dqrobotics as dql
-import numpy as np
-
-from dqrobotics.interfaces.vrep import DQ_VrepInterface
-
-# vrep = DQ_VrepInterface()
-# vrep.connect("192.168.10.103", 19997, 100, 10)
-vrep = None
-
-if __name__ == "__main__":
-    rclcpp_init()
-    rclpy.init()
-    sas_node = rclcpp_Node("dummy_robot_dynamics_client_sas")
-    node = rclpy.create_node("dummy_robot_dynamics_client")
-    executor = rclpy.executors.MultiThreadedExecutor()
-    executor.add_node(node)
-    try:
-        executor.spin_once(timeout_sec=0.1)
-        dynam_provider = RobotDynamicsClient(sas_node, "/franka1")
-        rclcpp_spin_some(sas_node)
-        while not dynam_provider.is_enabled():
-            node.get_logger().info("Waiting for robot dynamics provider to be enabled")
-            rclcpp_spin_some(sas_node)
-            executor.spin_once(timeout_sec=0.1)
-            node.get_logger().info("retrying...")
-            time.sleep(0.5)
-
-        node.get_logger().info("Dummy robot dynamics client started")
-        while rclpy.ok():
-            force = dynam_provider.get_stiffness_force()
-            torque = dynam_provider.get_stiffness_torque()
-            ee_pose = dynam_provider.get_stiffness_frame_pose()
-            if vrep is not None:
-                vrep.set_object_pose("xd1", ee_pose)
-            node.get_logger().info(f"EE Pose: {ee_pose}")
-            node.get_logger().info(f"Force: {force}")
-            node.get_logger().info(f"Torque: {torque}")
-            rclcpp_spin_some(sas_node)
-            executor.spin_once(timeout_sec=0.1)
-            time.sleep(0.5)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        rclcpp_shutdown()
-        node.destroy_node()
-        if vrep is not None:
-            vrep.disconnect()
-        rclpy.shutdown()

src/coppelia/sas_robot_driver_coppelia.cpp

@@ -1,247 +1,253 @@
-#include <sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp>
+#include "sas_robot_driver_coppelia.h"
 
 
-namespace qros
+namespace sas
 {
 
-RobotDriverCoppelia::~RobotDriverCoppelia() {
+
-    deinitialize();
+RobotDriverCoppelia::RobotDriverCoppelia(const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
-    disconnect();
+RobotDriver(break_loops),
+    configuration_(configuration),
+    robot_mode_(configuration.robot_mode),
+    jointnames_(configuration.jointnames),
+    mirror_mode_(configuration.mirror_mode),
+    dim_configuration_space_(configuration.jointnames.size()),
+    real_robot_topic_prefix_(configuration.real_robot_topic_prefix)
+{
+    vi_ = std::make_shared<DQ_VrepInterface>();
+    desired_joint_velocities_ = VectorXd::Zero(dim_configuration_space_);
+    auto nodehandle = ros::NodeHandle();
+    std::cout<<"RobotDriverCoppelia::Rostopic: "<<"/"+real_robot_topic_prefix_<<std::endl;
+    franka1_ros_ = std::make_shared<sas::RobotDriverInterface>(nodehandle, "/"+real_robot_topic_prefix_);
 }
 
-RobotDriverCoppelia::RobotDriverCoppelia(const std::shared_ptr<Node> &node_sptr, const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
+VectorXd RobotDriverCoppelia::get_joint_positions()
-        configuration_(configuration),
-        node_sptr_(node_sptr),
-        clock_(configuration.thread_sampling_time_sec),
-        break_loops_(break_loops),
-        robot_mode_(ControlMode::Position),
-        vi_(std::make_shared<DQ_VrepInterface>())
 {
-    // should initialize robot driver interface to real robot
+    return current_joint_positions_;
-    DQ_SerialManipulatorDH smdh = DQ_JsonReader::get_from_json<DQ_SerialManipulatorDH>(configuration_.robot_parameter_file_path);
+}
-    joint_limits_ = {smdh.get_lower_q_limit(),smdh.get_upper_q_limit()};
+
-    if(configuration_.using_real_robot)
+void RobotDriverCoppelia::set_target_joint_positions(const VectorXd &desired_joint_positions_rad)
+{
+    desired_joint_positions_ = desired_joint_positions_rad;
+}
+
+VectorXd RobotDriverCoppelia::get_joint_velocities()
+{
+    return current_joint_velocities_;
+}
+
+void RobotDriverCoppelia::set_target_joint_velocities(const VectorXd &desired_joint_velocities)
+{
+    desired_joint_velocities_ = desired_joint_velocities;
+}
+
+VectorXd RobotDriverCoppelia::get_joint_forces()
+{
+    return current_joint_forces_;
+}
+
+RobotDriverCoppelia::~RobotDriverCoppelia()=default;
+
+void RobotDriverCoppelia::connect()
+{
+
+    vi_->connect(configuration_.ip, configuration_.port, 500, 10);
+    vi_->set_joint_target_velocities(jointnames_, VectorXd::Zero(dim_configuration_space_));
+    std::cout<<"RobotDriverCoppelia::Connecting..."<<std::endl;
+}
+
+void RobotDriverCoppelia::disconnect()
+{
+    vi_->disconnect();
+    if (joint_velocity_control_mode_thread_.joinable())
     {
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Using real robot, Instantiating robot interface to real driver at ["+configuration_.robot_topic_prefix+"].");
+        joint_velocity_control_mode_thread_.join();
-        real_robot_interface_ = std::make_shared<sas::RobotDriverClient>(node_sptr_, configuration_.robot_topic_prefix);
+    }
+    if (joint_velocity_control_mirror_mode_thread_.joinable())
+    {
+        joint_velocity_control_mirror_mode_thread_.join();
+    }
+    std::cout<<"RobotDriverCoppelia::Disconnected."<<std::endl;
+}
+
+void RobotDriverCoppelia::initialize()
+{
+    vi_->start_simulation();
+    if (mirror_mode_ == false)
+    {
+        _start_joint_velocity_control_thread();
     }else{
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Using simulation robot, simulation mode is set to "+ configuration_.robot_mode);
+        _start_joint_velocity_control_mirror_thread();
-        robot_provider_ = std::make_shared<sas::RobotDriverServer>(node_sptr_, configuration_.robot_topic_prefix);
-        std::string _mode_upper = configuration_.robot_mode;
-        std::transform(_mode_upper.begin(), _mode_upper.end(), _mode_upper.begin(), ::toupper);
-        if(_mode_upper == "POSITIONCONTROL"){
-            robot_mode_ = ControlMode::Position;
-        }else if(_mode_upper == "VELOCITYCONTROL"){
-            robot_mode_ = ControlMode::Velocity;
-        }else{
-            throw std::invalid_argument("[" + std::string(node_sptr_->get_name()) + "]::Robot mode must be either 'position' or 'velocity'");
-        }
     }
-
+    std::cout<<"RobotDriverCoppelia::Velocity loop running..."<<std::endl;
 }
 
-void RobotDriverCoppelia::_update_vrep_position(const VectorXd &joint_positions, const bool& force_update) const{
+void RobotDriverCoppelia::deinitialize()
-    if(configuration_.vrep_dynamically_enabled){
+{
-        if(force_update){
+    vi_->set_joint_target_velocities(jointnames_, VectorXd::Zero(dim_configuration_space_));
-            vi_->set_joint_positions(configuration_.vrep_joint_names, joint_positions);
+    vi_->stop_simulation();
-        }
+    finish_motion();
-        vi_->set_joint_target_positions(configuration_.vrep_joint_names, joint_positions);
+    std::cout<<"RobotDriverCoppelia::Deinitialized."<<std::endl;
-    }else{
-        vi_->set_joint_positions(configuration_.vrep_joint_names, joint_positions);
-    }
 }
 
-void RobotDriverCoppelia::_update_vrep_velocity(const VectorXd & joint_velocity) const{
+
-    if(!configuration_.vrep_dynamically_enabled){
+
-        throw std::runtime_error("[RobotDriverCoppelia]::[_update_vrep_velocity]::Vrep is not dynamically enabled");
+
-    }
+void RobotDriverCoppelia::_update_robot_state(const VectorXd &q, const VectorXd &q_dot, const VectorXd &forces)
-    vi_->set_joint_target_velocities(configuration_.vrep_joint_names, joint_velocity);
+{
+    current_joint_positions_  = q;
+    current_joint_velocities_ = q_dot;
+    current_joint_forces_     =  forces;
 }
 
-void RobotDriverCoppelia::_start_control_loop(){
+void RobotDriverCoppelia::finish_motion()
-    clock_.init();
+{
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Starting control loop...");
+    for (int i=0;i<1000;i++)
-    while(!_should_shutdown()){
+    {
-        clock_.update_and_sleep();
+        set_target_joint_positions(current_joint_positions_);
-        rclcpp::spin_some(node_sptr_);
+        set_target_joint_velocities(VectorXd::Zero(dim_configuration_space_));
-        if(!rclcpp::ok()){break_loops_->store(true);}
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
-        if(configuration_.using_real_robot){
-            // real_robot_interface_
-            auto joint_position = real_robot_interface_->get_joint_positions();
-            _update_vrep_position(joint_position);
-        }else{
-            // robot_provider_
-            VectorXd target_joint_positions;
-            auto current_joint_positions = vi_->get_joint_positions(configuration_.vrep_joint_names);
-            VectorXd current_joint_velocity;
-            if(robot_provider_->is_enabled()) {
-                if(robot_mode_ == ControlMode::Velocity)
-                {
-                    if(robot_provider_->is_enabled(sas::RobotDriver::Functionality::VelocityControl)) {
-                        simulated_joint_velocities_ = robot_provider_->get_target_joint_velocities();
-                        current_joint_velocity = simulated_joint_velocities_;
-                        //                    try{_update_vrep_velocity(simulated_joint_velocities_);}catch (...){}
-                    }
-                    else{
-                        RCLCPP_DEBUG_STREAM(node_sptr_->get_logger(), "::Velocity control is not enabled.");
-                    }
-                    target_joint_positions = simulated_joint_positions_;
-                }else{
-                    target_joint_positions = robot_provider_->get_target_joint_positions();
-                }
-            }else {
-                target_joint_positions = current_joint_positions;
-            }
-            _update_vrep_position(target_joint_positions);
-            robot_provider_->send_joint_states(current_joint_positions, current_joint_velocity, VectorXd());
-            robot_provider_->send_joint_limits(joint_limits_);
-
-        }
     }
-
+    finish_motion_ = true;
-
 }
 
-int RobotDriverCoppelia::start_control_loop(){
+void RobotDriverCoppelia::_start_joint_velocity_control_mode()
+{
     try{
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Waiting to connect with coppelia...");
+        finish_motion_ = false;
-        connect();
+        VectorXd q = vi_->get_joint_positions(jointnames_);
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Connected to coppelia.");
+        VectorXd q_dot =  vi_->get_joint_velocities(jointnames_);
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Initializing...");
+        VectorXd forces = vi_->get_joint_torques(jointnames_);
-        initialize();
+        _update_robot_state(q, q_dot, forces);
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::initialized.");
 
-        _start_control_loop();
+        desired_joint_positions_ = q;
+        while(true)
+        {
+
+            VectorXd q = vi_->get_joint_positions(jointnames_);
+            VectorXd q_dot =  vi_->get_joint_velocities(jointnames_);
+            VectorXd forces = vi_->get_joint_torques(jointnames_);
+            _update_robot_state(q, q_dot, forces);
+
+
+            if (robot_mode_  == std::string("VelocityControl"))
+            {              
+                    vi_->set_joint_target_velocities(jointnames_, desired_joint_velocities_); 
+            }
+            else if (robot_mode_  == std::string("PositionControl"))
+            {
+                    vi_->set_joint_target_positions(jointnames_, desired_joint_positions_);
+            }
+            if (finish_motion_) {
+                    finish_motion_ = false;
+                    return;
+            }
+        }
     }
     catch(const std::exception& e)
     {
-        RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::Error or exception caught::" << e.what());
+        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " << e.what()<<std::endl;
     }
     catch(...)
     {
-        RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::Unexpected error or exception caught");
+        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " <<std::endl;
     }
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Deinitializing...");
-    deinitialize();
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::deinitialized.");
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Disconnecting from coppelia...");
-    disconnect();
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Disconnected from coppelia.");
 
-    return 0;
+
 }
 
-
+void RobotDriverCoppelia::_start_joint_velocity_control_thread()
-void RobotDriverCoppelia::connect(){
+{
-    auto ret = vi_->connect(configuration_.vrep_ip, configuration_.vrep_port, 100, 10);
+    finish_motion_ = false;
-    if(!ret){
+    if (joint_velocity_control_mode_thread_.joinable())
-        throw std::runtime_error("[RobotDriverCoppelia]::connect::Could not connect to Vrep");
-    }
-    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::connect::Connected to Vrep");
-}
-void RobotDriverCoppelia::disconnect(){
-    vi_->disconnect_all();
-}
-
-void RobotDriverCoppelia::initialize(){
-    if(configuration_.using_real_robot)
     {
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Waiting for real robot interface to initialize...");
+        joint_velocity_control_mode_thread_.join();
-        rclcpp::spin_some(node_sptr_);
-        int count = 0;
-        while (!real_robot_interface_->is_enabled(sas::RobotDriver::Functionality::PositionControl)) {
-            rclcpp::spin_some(node_sptr_);
-            // std::cout<<"Waiting for real robot interface to initialize..."<<std::endl;
-            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-            rclcpp::spin_some(node_sptr_);
-            count++;
-            if(count > REAL_ROBOT_INTERFACE_INIT_TIMEOUT_COUNT){
-                RCLCPP_ERROR_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Real robot interface not initialized. Exiting on TIMEOUT...");
-                throw std::runtime_error("[" + std::string(node_sptr_->get_name()) +"]::[RobotDriverCoppelia]::initialize::Real robot interface not initialized.");
-            }
-            if(!rclcpp::ok()) {
-                RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::ROS shutdown received. Exiting...");
-                throw std::runtime_error("[" + std::string(node_sptr_->get_name()) +"]::[RobotDriverCoppelia]::initialize::ROS shutdown received, not OK.");
-            }
-        }
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Real robot interface initialized.");
-        joint_limits_ = real_robot_interface_->get_joint_limits();
-        _update_vrep_position(real_robot_interface_->get_joint_positions(), true);
-    }else{
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Simulation mode.");
-        // initialization information for robot driver provider
-        /**
-        * TODO: check for making sure real robot is not actually connected
-        */
-        auto current_joint_positions = vi_->get_joint_positions(configuration_.vrep_joint_names);
-        VectorXd current_joint_velocity;
-        if(robot_mode_ == ControlMode::Velocity)
-        {current_joint_velocity = VectorXd::Zero(current_joint_positions.size());}
-        robot_provider_->send_joint_states(current_joint_positions, current_joint_velocity, VectorXd());
-        robot_provider_->send_joint_limits(joint_limits_);
-        // start velocity control simulation thread if needed
-        if(robot_mode_ == ControlMode::Velocity)
-        {
-            simulated_joint_positions_ = current_joint_positions;
-            simulated_joint_velocities_ = current_joint_velocity;
-            start_simulation_thread();
-        }
     }
-}
+    if (joint_velocity_control_mirror_mode_thread_.joinable())
-void RobotDriverCoppelia::deinitialize(){
+    {
-    // nothing to do
+        joint_velocity_control_mirror_mode_thread_.join();
+    }
+    joint_velocity_control_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mode, this);
 }
 
-void RobotDriverCoppelia::start_simulation_thread(){ // thread entry point
+void RobotDriverCoppelia::_start_joint_velocity_control_mirror_thread()
-    if(simulation_thread_started_){
+{
-        throw std::runtime_error("[RobotDriverCoppelia]::start_simulation_thread::Simulation thread already started");
+    finish_motion_ = false;
+    if (joint_velocity_control_mode_thread_.joinable())
+    {
+        joint_velocity_control_mode_thread_.join();
     }
-    if(velocity_control_simulation_thread_.joinable()){
+    if (joint_velocity_control_mirror_mode_thread_.joinable())
-        velocity_control_simulation_thread_.join();
+    {
+        joint_velocity_control_mirror_mode_thread_.join();
     }
-
+    joint_velocity_control_mirror_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode, this);
-    velocity_control_simulation_thread_ = std::thread(&RobotDriverCoppelia::_velocity_control_simulation_thread_main, this);
 }
 
-void RobotDriverCoppelia::_velocity_control_simulation_thread_main(){
+void RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode()
-    /**
+{
-     * This thread should not access vrep
+
-     */
-    simulation_thread_started_ = true;
     try{
-        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Simulation thread started.");
+        finish_motion_ = false;
-        sas::Clock clock = sas::Clock(VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_SEC);
+        std::cout<<"RobotDriverCoppelia::Waiting for real robot topics..."<<std::endl;
-        double tau = VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_SEC;
+        VectorXd q;
-        auto current_joint_positions = simulated_joint_positions_;
+        while (ros::ok()) {
-        clock.init();
+            if (franka1_ros_->is_enabled())
-        while (!(*break_loops_) && rclcpp::ok()) {
+            {
+                    q = franka1_ros_->get_joint_positions();
+                    break;
+            }
+            ros::spinOnce();
+        }
+        std::cout<<"RobotDriverCoppelia::Done!"<<std::endl;
 
-            current_joint_positions += tau * simulated_joint_velocities_; // no dynamic model
+        VectorXd q_vrep = vi_->get_joint_positions(jointnames_);
-            // cap joint limit
+        VectorXd q_dot_vrep =  vi_->get_joint_velocities(jointnames_);
-            auto q_min = std::get<0>(joint_limits_);
+        VectorXd forces_vrep = vi_->get_joint_torques(jointnames_);
-            auto q_max = std::get<1>(joint_limits_);
+        _update_robot_state(q_vrep, q_dot_vrep, forces_vrep);
-            for (int i = 0; i < current_joint_positions.size(); i++) {
+
-                if (current_joint_positions(i) < q_min(i)) {
+        desired_joint_positions_ = q_vrep;
-                    current_joint_positions(i) = q_min(i);
+
+
+        while(ros::ok())
+        {
+            q = franka1_ros_->get_joint_positions();
+            if (q.size() == dim_configuration_space_)
+            {
+                VectorXd q_vrep = vi_->get_joint_positions(jointnames_);
+                VectorXd q_dot_vrep =  vi_->get_joint_velocities(jointnames_);
+                VectorXd forces_vrep = vi_->get_joint_torques(jointnames_);
+                _update_robot_state(q_vrep, q_dot_vrep, forces_vrep);
+
+
+                if (robot_mode_  == std::string("VelocityControl"))
+                {
+                    vi_->set_joint_target_velocities(jointnames_, gain_*(q-q_vrep));
                 }
-                if (current_joint_positions(i) > q_max(i)) {
+                else if (robot_mode_  == std::string("PositionControl"))
-                    current_joint_positions(i) = q_max(i);
+                {
+                        vi_->set_joint_target_positions(jointnames_, q);
+                }
+                if (finish_motion_) {
+                        finish_motion_ = false;
+                        return;
                 }
             }
-            simulated_joint_positions_ = current_joint_positions;
-            clock.update_and_sleep();
         }
-    }catch(std::exception &e){
-        RCLCPP_ERROR_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Exception::" << e.what());
-        simulation_thread_started_ = false;
-    }catch(...){
-        RCLCPP_ERROR_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Exception::Unknown");
-        simulation_thread_started_ = false;
     }
-    break_loops_->store(true);
+    catch(const std::exception& e)
+    {
+        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " << e.what()<<std::endl;
+    }
+    catch(...)
+    {
+        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " <<std::endl;
+    }
+
 
 }
 
 
 
+
 } // sas namespace

src/coppelia/sas_robot_driver_coppelia.h

@@ -0,0 +1,134 @@
+/*
+# 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. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
+#         - Adapted from sas_robot_driver_denso.cpp
+#           (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso.cpp)
+#
+# ################################################################
+*/
+
+
+#pragma once
+#include <exception>
+#include <tuple>
+#include <atomic>
+#include <vector>
+#include <memory>
+#include <dqrobotics/DQ.h>
+#include <sas_robot_driver/sas_robot_driver.h>
+#include <dqrobotics/interfaces/vrep/DQ_VrepRobot.h>
+#include <thread>
+#include <sas_robot_driver/sas_robot_driver_interface.h>
+
+using namespace DQ_robotics;
+using namespace Eigen;
+
+namespace sas
+{
+
+
+
+struct RobotDriverCoppeliaConfiguration
+{
+
+    int thread_sampling_time_nsec;
+    int port;
+    std::string ip;
+    std::vector<std::string> jointnames;
+    std::string robot_mode;
+    bool mirror_mode;
+    std::string real_robot_topic_prefix;
+};
+
+class RobotDriverCoppelia: public RobotDriver
+{
+private:
+    RobotDriverCoppeliaConfiguration configuration_;
+
+    std::string robot_mode_ = std::string("VelocityControl");   // PositionControl
+    bool mirror_mode_ = false;
+    double gain_ = 3.0;
+    std::string real_robot_topic_prefix_;
+
+    VectorXd current_joint_positions_;
+    VectorXd current_joint_velocities_;
+    VectorXd current_joint_forces_;
+
+
+    VectorXd desired_joint_velocities_;
+    VectorXd desired_joint_positions_;
+
+    std::atomic<bool> finish_motion_;
+
+    int dim_configuration_space_;
+
+    void _update_robot_state(const VectorXd& q, const VectorXd& q_dot, const VectorXd& forces);
+
+    void finish_motion();
+
+    void _start_joint_velocity_control_mode();
+    std::thread joint_velocity_control_mode_thread_;
+    void _start_joint_velocity_control_thread();
+
+
+    void _start_joint_velocity_control_mirror_mode();
+    std::thread joint_velocity_control_mirror_mode_thread_;
+    void _start_joint_velocity_control_mirror_thread();
+
+    std::shared_ptr<sas::RobotDriverInterface> franka1_ros_;
+
+
+protected:
+    std::shared_ptr<DQ_VrepInterface> vi_;
+    std::vector<std::string> jointnames_;
+
+
+
+public:
+    RobotDriverCoppelia(const RobotDriverCoppelia&)=delete;
+    RobotDriverCoppelia()=delete;
+    ~RobotDriverCoppelia();
+
+    RobotDriverCoppelia(const RobotDriverCoppeliaConfiguration& configuration, std::atomic_bool* break_loops);
+
+
+    VectorXd get_joint_positions() override;
+    void set_target_joint_positions(const VectorXd& desired_joint_positions_rad) override;
+
+    VectorXd get_joint_velocities() override;
+    void set_target_joint_velocities(const VectorXd& desired_joint_velocities) override;
+
+    VectorXd get_joint_forces() override;
+
+    void connect() override;
+    void disconnect() override;
+
+    void initialize() override;
+    void deinitialize() override;
+
+
+};
+}

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

@@ -28,7 +28,7 @@
 #
 # ################################################################
 */
-#include <sas_robot_driver_franka/generator/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 <sas_robot_driver_franka/generator/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 <sas_robot_driver_franka/generator/quadratic_program_motion_generator.h>
+#include "generator/quadratic_program_motion_generator.h"
 
 
 QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor,

src/hand/qros_effector_driver_franka_hand.cpp

@@ -1,340 +0,0 @@
-/*
-# 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/interfaces/qros_effector_driver_franka_hand.hpp>
-
-#include <franka/exception.h>
-
-using namespace std::placeholders;
-using namespace sas_robot_driver_franka_interfaces;
-
-
-namespace qros
-{
-    //const static int SLAVE_MODE_JOINT_CONTROL;
-    //const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
-
-    EffectorDriverFrankaHand::~EffectorDriverFrankaHand()
-    {
-        if (_is_connected())
-        {
-            disconnect();
-        }
-    }
-
-    EffectorDriverFrankaHand::EffectorDriverFrankaHand(
-        const std::string& driver_node_prefix,
-        const EffectorDriverFrankaHandConfiguration& configuration,
-        std::shared_ptr<Node> node,
-        std::atomic_bool* break_loops):
-        driver_node_prefix_(driver_node_prefix),
-        configuration_(configuration),
-        node_(node),
-        break_loops_(break_loops)
-    {
-        gripper_sptr_ = nullptr;
-        grasp_srv_ = node->create_service<srv::Grasp>(driver_node_prefix_ + "/grasp",
-            std::bind(&EffectorDriverFrankaHand::_grasp_srv_callback, this, _1, _2));
-        move_srv_ = node->create_service<srv::Move>(driver_node_prefix_ + "/move",
-            std::bind(&EffectorDriverFrankaHand::_move_srv_callback, this, _1, _2));
-        homing_srv_ = node->create_service<std_srvs::srv::Trigger>(driver_node_prefix_ + "/homing",
-            std::bind(&EffectorDriverFrankaHand::_home_srv_callback, this, _1, _2));
-        gripper_status_publisher_ = node->create_publisher<msg::GripperState>(
-            driver_node_prefix_ + "/gripper_status", 1);
-    }
-
-    bool EffectorDriverFrankaHand::_is_connected() const
-    {
-#ifdef IN_TESTING
-        return true;
-#endif
-        if (gripper_sptr_ == nullptr) return false;
-        if (!gripper_sptr_) return false;
-        else return true;
-    }
-
-
-    void EffectorDriverFrankaHand::start_control_loop() {
-        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_s);
-        clock.init();
-        RCLCPP_INFO_STREAM(node_->get_logger(),"[EffectorDriverFrankaHand]::start_control_loop::Starting control loop.");
-        RCLCPP_WARN_STREAM(node_->get_logger(),"[EffectorDriverFrankaHand]::Gripper READY.");
-        while (!(*break_loops_))
-        {
-            if (!_is_connected()) throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::start_control_loop::Robot is not connected.");
-
-            if (!status_loop_running_)
-            {
-                RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_is_connected::Status loop is not running.");
-                break_loops_->store(true);
-                break;
-            }
-
-            clock.update_and_sleep();
-            spin_some(node_);
-        }
-        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::start_control_loop::Exiting control loop.");
-    }
-
-
-    void EffectorDriverFrankaHand::connect()
-    {
-#ifdef IN_TESTING
-        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::connect::In testing mode. to DUMMY");
-        return;
-#endif
-        gripper_sptr_ = std::make_shared<franka::Gripper>(configuration_.robot_ip);
-        if (!_is_connected()) throw std::runtime_error(
-            "[" + std::string(node_->get_name())+
-            "]::[EffectorDriverFrankaHand]::connect::Could not connect to the robot.");
-    }
-
-    void EffectorDriverFrankaHand::disconnect() noexcept
-    {
-#ifdef IN_TESTING
-        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::disconnect::In testing mode. from DUMMY");
-        return;
-#endif
-        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::disconnecting...");
-        gripper_sptr_->~Gripper();
-        gripper_sptr_ = nullptr;
-    }
-
-    /**
-     * @brief robot_driver_franka::gripper_homing
-     */
-    void EffectorDriverFrankaHand::gripper_homing()
-    {
-#ifdef IN_TESTING
-        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::gripper_homing::In testing mode.");
-        return;
-#endif
-        if (!_is_connected()) throw std::runtime_error(
-            "[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::gripper_homing::Robot is not connected.");
-        auto ret = gripper_sptr_->homing();
-        if (!ret)
-        {
-            throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::gripper_homing::Failed to home the gripper.");
-        }
-        RCLCPP_INFO_STREAM(node_->get_logger(),"[EffectorDriverFrankaHand]::gripper_homing::Gripper homed.");
-    }
-
-    void EffectorDriverFrankaHand::initialize()
-    {
-        if (!_is_connected()) throw std::runtime_error(
-            "[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::initialize::Robot is not connected.");
-        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
-        auto time_now = std::chrono::system_clock::now();
-        auto time_out = time_now + std::chrono::seconds(5);
-        while (!status_loop_running_)
-        {
-            if (std::chrono::system_clock::now() > time_out){throw std::runtime_error("[" + std::string(node_->get_name()) + "]::[EffectorDriverFrankaHand]::initialize::Could not start status loop.");}
-            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        }
-    }
-
-    void EffectorDriverFrankaHand::deinitialize()
-    {
-#ifdef IN_TESTING
-        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::deinitialize::In testing mode.");
-        return;
-#endif
-        if (_is_connected())
-        {
-            franka::GripperState gripper_state = gripper_sptr_->readOnce();
-            if (gripper_state.is_grasped)
-            {
-                gripper_sptr_->stop();
-            }
-        }
-    }
-
-
-    bool EffectorDriverFrankaHand::_grasp_srv_callback(const std::shared_ptr<srv::Grasp::Request> &req, std::shared_ptr<srv::Grasp::Response> res)
-    {
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::Grasping...");
-        auto force = req->force;
-        auto speed = req->speed;
-        auto epsilon_inner = req->epsilon_inner;
-        auto epsilon_outer = req->epsilon_outer;
-        if (force <= 0.0) force = configuration_.default_force;
-        if (speed <= 0.0) speed = configuration_.default_speed;
-        if (epsilon_inner <= 0.0) epsilon_inner = configuration_.default_epsilon_inner;
-        if (epsilon_outer <= 0.0) epsilon_outer = configuration_.default_epsilon_outer;
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::Width: " + std::to_string(req->width));
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::force: " + std::to_string(force) + " speed: " + std::to_string(speed));
-        bool ret = false;
-        bool function_ret = true;
-#ifdef IN_TESTING
-        ret = true;
-        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-#else
-        try
-        {
-            std::lock_guard<std::mutex> lock(gripper_in_use_);
-            ret = gripper_sptr_->grasp(req->width, speed, force, epsilon_inner, epsilon_outer);
-        }catch(franka::CommandException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::CommandException::" + std::string(e.what()));
-            function_ret = false;
-        }catch(franka::NetworkException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::NetworkException::" + std::string(e.what()));
-            function_ret = false;
-        }
-#endif
-        res->set__success(ret);
-        return function_ret;
-    }
-
-
-    bool EffectorDriverFrankaHand::_move_srv_callback(const std::shared_ptr<srv::Move::Request> &req, std::shared_ptr<srv::Move::Response> res)
-    {
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::Moving...");
-        auto speed = req->speed;
-        if (speed <= 0.0) speed = configuration_.default_speed;
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::Speed: " + std::to_string(speed) + " Width: " + std::to_string(req->width));
-        bool ret = false;
-        bool function_ret = true;
-#ifdef IN_TESTING
-        ret = true;
-        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-#else
-        try
-        {
-            std::lock_guard<std::mutex> lock(gripper_in_use_);
-            ret = gripper_sptr_->move(req->width, speed);
-        }catch(franka::CommandException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::CommandException::" + std::string(e.what()));
-            function_ret = false;
-        }catch(franka::NetworkException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::NetworkException::" + std::string(e.what()));
-            function_ret = false;
-        }
-#endif
-        res->set__success(ret);
-        return function_ret;
-    }
-
-
-    bool EffectorDriverFrankaHand::_home_srv_callback(const std::shared_ptr<std_srvs::srv::Trigger::Request> &req, std::shared_ptr<std_srvs::srv::Trigger::Response> res)
-    {
-        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_home_srv_callback::Homing...");
-        bool ret = false;
-        bool function_ret = true;
-#ifdef IN_TESTING
-        ret = true;
-        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-#else
-        try
-        {
-            std::lock_guard<std::mutex> lock(gripper_in_use_);
-            ret = gripper_sptr_->homing();
-        }catch(franka::CommandException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_home_srv_callback::CommandException::" + std::string(e.what()));
-            res->set__message("_home_srv_callback::CommandException::" + std::string(e.what()));
-            function_ret = false;
-            ret = false;
-        }catch(franka::NetworkException& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_home_srv_callback::NetworkException::" + std::string(e.what()));
-            res->set__message("_home_srv_callback::NetworkException::" + std::string(e.what()));
-            function_ret = false;
-            ret = false;
-        }
-#endif
-        res->set__success(ret);
-        return function_ret;
-    }
-
-
-    void EffectorDriverFrankaHand::_gripper_status_loop()
-    {
-        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_s);
-        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Starting status loop.");
-        clock.init();
-        try
-        {
-            status_loop_running_ = true;
-            while (status_loop_running_)
-            {
-                if (!_is_connected()) throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Robot is not connected.");
-                try
-                {
-#ifdef IN_TESTING
-                    RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
-                    throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
-#endif
-                    msg::GripperState msg;
-                    {
-#ifdef BLOCK_READ_IN_USED
-                        std::lock_guard<std::mutex> lock(gripper_in_use_);
-#endif
-                        franka::GripperState gripper_state = gripper_sptr_->readOnce();
-                        msg.set__width(static_cast<float>(gripper_state.width));
-                        msg.set__max_width(static_cast<float>(gripper_state.max_width));
-                        msg.set__is_grasped(gripper_state.is_grasped);
-                        msg.set__temperature(gripper_state.temperature);
-                        msg.set__duration_ms(gripper_state.time.toMSec());
-                    }
-                    gripper_status_publisher_->publish(msg);
-                }
-                catch (...)
-                {
-                    RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Could not read gripper state. Unavailable.");
-                    msg::GripperState msg;
-                    msg.width = 0.0;
-                    gripper_status_publisher_->publish(msg);
-                }
-
-                clock.update_and_sleep();
-            }
-            status_loop_running_ = false;
-        }
-        catch (std::exception& e)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::" + std::string(e.what()));
-            status_loop_running_ = false;
-        }
-        catch (...)
-        {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::Unknown exception.");
-            status_loop_running_ = false;
-        }
-        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exiting status loop.");
-    }
-} // qros

src/hand/robot_interface_hand.cpp

@@ -1,33 +1,4 @@
-/*
+#include "robot_interface_hand.h"
-# 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/robot_interface_hand.hpp>
 
 
 

src/hand/sas_robot_driver_franka_hand.cpp

@@ -0,0 +1,152 @@
+/*
+# 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 {
+
+    //const static int SLAVE_MODE_JOINT_CONTROL;
+    //const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
+
+    RobotDriverFrankaHand::~RobotDriverFrankaHand()
+    {
+        if(_is_connected())
+        {
+            disconnect();
+        }
+    }
+
+    RobotDriverFrankaHand::RobotDriverFrankaHand(
+        const RobotDriverFrankaHandConfiguration& configuration,
+        const RobotDriverROSConfiguration& ros_configuration,
+        std::atomic_bool* break_loops):
+    configuration_(configuration), ros_configuration_(ros_configuration), break_loops_(break_loops)
+    {
+        gripper_sptr_ = nullptr;
+
+    }
+
+    bool RobotDriverFrankaHand::_is_connected() const
+    {
+        if(gripper_sptr_ == nullptr) return false;
+        if(!gripper_sptr_) return false;
+        else return true;
+    }
+
+    VectorXd RobotDriverFrankaHand::get_joint_positions()
+    {
+        return joint_positions_;
+
+    }
+    void RobotDriverFrankaHand::set_target_joint_positions(const VectorXd& desired_joint_positions_rad)
+    {
+
+    }
+
+    VectorXd RobotDriverFrankaHand::get_joint_velocities()
+    {
+        return VectorXd::Zero(1);
+    }
+    void RobotDriverFrankaHand::set_target_joint_velocities(const VectorXd& desired_joint_velocities)
+    {
+
+    }
+
+    VectorXd RobotDriverFrankaHand::get_joint_forces()
+    {
+        return VectorXd::Zero(1);
+    }
+
+    void RobotDriverFrankaHand::start_control_loop()
+    {
+
+        Clock clock = Clock(ros_configuration_.thread_sampling_time_nsec);
+        clock.init();
+        ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::start_control_loop::Starting control loop.");
+        while(!(*break_loops_))
+        {
+            if(!_is_connected()) throw std::runtime_error("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::start_control_loop::Robot is not connected.");
+
+
+            clock.update_and_sleep();
+        }
+        ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::start_control_loop::Exiting control loop.");
+
+    }
+
+
+    void RobotDriverFrankaHand::connect()
+    {
+        gripper_sptr_ = std::make_shared<franka::Gripper>(configuration_.robot_ip);
+        if(!_is_connected()) throw std::runtime_error("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::connect::Could not connect to the robot.");
+
+    }
+    void RobotDriverFrankaHand::disconnect() noexcept
+    {
+        ROS_WARN_STREAM("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::disconnecting...");
+        gripper_sptr_->~Gripper();
+        gripper_sptr_ = nullptr;
+    }
+
+    /**
+     * @brief robot_driver_franka::gripper_homing
+     */
+    void RobotDriverFrankaHand::gripper_homing()
+    {
+        if(!_is_connected()) throw std::runtime_error("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::gripper_homing::Robot is not connected.");
+        auto ret = gripper_sptr_->homing();
+        if(!ret)
+        {
+            throw std::runtime_error("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::gripper_homing::Failed to home the gripper.");
+        }
+        ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::gripper_homing::Gripper homed.");
+    }
+
+    void RobotDriverFrankaHand::initialize()
+    {
+        if(!_is_connected()) throw std::runtime_error("["+ ros::this_node::getName()+"]::[RobotDriverFrankaHand]::initialize::Robot is not connected.");
+        gripper_homing();
+    }
+
+    void RobotDriverFrankaHand::deinitialize()
+    {
+        if(_is_connected())
+        {
+            franka::GripperState gripper_state = gripper_sptr_->readOnce();
+            if(gripper_state.is_grasped)
+            {
+                gripper_sptr_->stop();
+            }
+        }
+    }
+
+
+
+
+} // sas

src/hand/sas_robot_driver_franka_hand.h

@@ -0,0 +1,117 @@
+#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>
+#include <vector>
+#include <memory>
+#include <franka/robot.h>
+#include <franka/gripper.h>
+// #include <thread>
+
+#include <dqrobotics/DQ.h>
+
+#include <sas_robot_driver/sas_robot_driver.h>
+#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include <sas_clock/sas_clock.h>
+#include <ros/common.h>
+
+using namespace DQ_robotics;
+using namespace Eigen;
+
+
+namespace sas {
+
+struct RobotDriverFrankaHandConfiguration
+{
+    std::string robot_ip;
+
+};
+
+class RobotDriverFrankaHand{
+private:
+    RobotDriverFrankaHandConfiguration configuration_;
+    RobotDriverROSConfiguration ros_configuration_;
+
+    std::shared_ptr<franka::Gripper> gripper_sptr_;
+
+    //Joint positions
+    VectorXd joint_positions_;
+    //VectorXd joint_velocities_;
+    //VectorXd end_effector_pose_;
+
+
+    // std::thread control_loop_thread_;
+    std::atomic_bool* break_loops_;
+
+    bool _is_connected() const;
+
+public:
+    //const static int SLAVE_MODE_JOINT_CONTROL;
+    //const static int SLAVE_MODE_END_EFFECTOR_CONTROL;
+
+    RobotDriverFrankaHand(const RobotDriverFrankaHand&)=delete;
+    RobotDriverFrankaHand()=delete;
+    ~RobotDriverFrankaHand();
+
+    RobotDriverFrankaHand(
+        const RobotDriverFrankaHandConfiguration& configuration,
+        const RobotDriverROSConfiguration& ros_configuration,
+        std::atomic_bool* break_loops);
+
+    void start_control_loop();
+
+
+
+    VectorXd get_joint_positions();
+    void set_target_joint_positions(const VectorXd& desired_joint_positions_rad);
+
+    VectorXd get_joint_velocities();
+    void set_target_joint_velocities(const VectorXd& desired_joint_velocities);
+
+    VectorXd get_joint_forces();
+
+    void gripper_homing();
+
+
+    void connect() ;
+    void disconnect() noexcept;
+
+    void initialize() ;
+    void deinitialize() ;
+
+    //bool set_end_effector_pose_dq(const DQ& pose);
+    //DQ get_end_effector_pose_dq();
+
+};
+
+} // sas
+

src/joint/robot_interface_franka.cpp

@@ -30,7 +30,10 @@
 */
 
 
-#include <sas_robot_driver_franka/interfaces/robot_interface_franka.hpp>
+#include "robot_interface_franka.h"
+
+#include <ros/this_node.h>
+#include <rosconsole/macros_generated.h>
 
 
 /**
@@ -310,7 +313,6 @@ void RobotInterfaceFranka::initialize()
     initialize_flag_ = true;
 
     // initialize and set the robot to default behavior (collision behavior, impedance, etc)
-    // robot_sptr_->setDefaultBehavior();
     setDefaultBehavior(*robot_sptr_);
     robot_sptr_->setCollisionBehavior(
         franka_configuration_.lower_torque_threshold,
@@ -363,7 +365,7 @@ 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.K_F_ext_hat_K;
+    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];
@@ -716,7 +718,6 @@ DQ RobotInterfaceFranka::get_stiffness_pose() {
     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;
-    // return base_2_k;
 }
 
 /**

src/joint/robot_interface_franka.h

@@ -40,12 +40,12 @@
 #include <franka/robot.h>
 #include <franka/gripper.h>
 #include <franka/exception.h>
-#include <sas_robot_driver_franka/generator/motion_generator.h>
+#include "generator/motion_generator.h"
-#include <sas_robot_driver_franka/generator/quadratic_program_motion_generator.h>
-#include <sas_robot_driver_franka/generator/custom_motion_generation.h>
 #include <thread>
+#include "generator/quadratic_program_motion_generator.h"
 #include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
 #include <atomic>
+#include "generator/custom_motion_generation.h"
 
 using namespace DQ_robotics;
 using namespace Eigen;

src/joint/sas_robot_driver_franka.cpp

@@ -31,34 +31,32 @@
 */
 
 
-#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
+#include "../../include/sas_robot_driver_franka.h"
-#include <sas_core/sas_clock.hpp>
+#include "sas_clock/sas_clock.h"
 #include <dqrobotics/utils/DQ_Math.h>
-
+#include <ros/this_node.h>
+#include <rosconsole/macros_generated.h>
 
 namespace sas
 {
-    RobotDriverFranka::RobotDriverFranka(
+    RobotDriverFranka::RobotDriverFranka(RobotDynamicProvider* robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops):
-        const std::shared_ptr<Node> &node,
-        const std::shared_ptr<qros::RobotDynamicsServer> &robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops
-    ):
     RobotDriver(break_loops),
-    node_(node),
     configuration_(configuration),
-    robot_dynamic_provider_sptr_(robot_dynamic_provider),
+    robot_dynamic_provider_(robot_dynamic_provider),
     break_loops_(break_loops)
    {
         joint_positions_.resize(7);
         joint_velocities_.resize(7);
-        joint_torques_.resize(7);
+        joint_forces_.resize(7);
         //end_effector_pose_.resize(7);
         //joint_positions_buffer_.resize(8,0);
         //end_effector_pose_euler_buffer_.resize(7,0);
         //end_effector_pose_homogenous_transformation_buffer_.resize(10,0);
-        // std::cout<<configuration.ip_address<<std::endl;
+        std::cout<<configuration.ip_address<<std::endl;
 
         RobotInterfaceFranka::MODE mode = RobotInterfaceFranka::MODE::None;
-        RCLCPP_INFO_STREAM(node_->get_logger(), "Mode: " << configuration_.mode);
+
+        std::cout<<configuration.mode<<std::endl;
 
         if (configuration_.mode == std::string("None"))
         {
@@ -92,7 +90,7 @@ namespace sas
         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_sptr_->publish_stiffness(pose, force, torque);
+        robot_dynamic_provider_->publish_stiffness(pose, force, torque);
     }
 
 
@@ -145,16 +143,9 @@ namespace sas
     VectorXd  RobotDriverFranka::get_joint_positions()
     {
         if(robot_driver_interface_sptr_->get_err_state()) {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),
+            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
-                "["+std::string(node_->get_name())+"]::driver interface "
-                "error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
-        if(!ok()) {
-            RCLCPP_WARN_STREAM(node_->get_logger(),
-                "["+std::string(node_->get_name())+"]::driver interface exit on shotdown signal recieved."
-                );
-        }
         _update_stiffness_contact_and_pose();
         return robot_driver_interface_sptr_->get_joint_positions();
     }
@@ -169,9 +160,7 @@ namespace sas
     {
         robot_driver_interface_sptr_->set_target_joint_positions(desired_joint_positions_rad);
         if(robot_driver_interface_sptr_->get_err_state()) {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),
+            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
-                "["+std::string(node_->get_name())+"]::driver interface "
-                "error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
     }
@@ -193,12 +182,10 @@ namespace sas
      */
     void RobotDriverFranka::set_target_joint_velocities(const VectorXd &desired_joint_velocities)
     {
-        // desired_joint_velocities_ = desired_joint_velocities;
+        desired_joint_velocities_ = desired_joint_velocities;
         robot_driver_interface_sptr_->set_target_joint_velocities(desired_joint_velocities);
         if(robot_driver_interface_sptr_->get_err_state()) {
-            RCLCPP_ERROR_STREAM(node_->get_logger(),
+            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
-                                "["+std::string(node_->get_name())+"]::driver interface "
-                                "error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
     }
@@ -207,10 +194,10 @@ namespace sas
      * @brief RobotDriverFranka::get_joint_forces
      * @return
      */
-    VectorXd RobotDriverFranka::get_joint_torques()
+    VectorXd RobotDriverFranka::get_joint_forces()
     {
-        joint_torques_ = robot_driver_interface_sptr_->get_joint_forces();
+        joint_forces_ = robot_driver_interface_sptr_->get_joint_forces();
-        return joint_torques_;
+        return joint_forces_;
     }
 
 }

src/robot_dynamics/qros_robot_dynamics_client.cpp

@@ -1,102 +0,0 @@
-/*
-# Copyright (c) 2024 Quenitin Lin
-#
-#    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: Quenitin Lin
-#
-# ################################################################
-#
-# Contributors:
-#      1. Quenitin Lin
-#
-# ################################################################
-*/
-#include <memory>
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp>
-
-using namespace qros;
-
-
-RobotDynamicsClient::RobotDynamicsClient(const std::shared_ptr<Node> &node, const std::string& topic_prefix):
-    node_(node), topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix),
-    child_frame_id_(topic_prefix_ + "_stiffness_frame"), parent_frame_id_(topic_prefix_ + "_base"),
-    last_stiffness_force_(Vector3d::Zero()),
-    last_stiffness_torque_(Vector3d::Zero()),
-    last_stiffness_frame_pose_(0)
-{
-    tf_buffer_ = std::make_unique<tf2_ros::Buffer>(node->get_clock());
-    tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
-
-    // Strip potential leading slash
-    if(child_frame_id_.front() == '/'){child_frame_id_ = child_frame_id_.substr(1);}
-    if(parent_frame_id_.front() == '/'){parent_frame_id_ = parent_frame_id_.substr(1);}
-    RCLCPP_INFO_STREAM(node_->get_logger(),
-        "["+ std::string(node_->get_name()) + "]::Initializing RobotDynamicsClient with prefix " + topic_prefix);
-    subscriber_cartesian_stiffness_ = node_->create_subscription<geometry_msgs::msg::WrenchStamped>(topic_prefix + "/get/cartesian_stiffness", 1,
-        std::bind(&RobotDynamicsClient::_callback_cartesian_stiffness, this, std::placeholders::_1)
-        );
-
-}
-
-void RobotDynamicsClient::_callback_cartesian_stiffness(const geometry_msgs::msg::WrenchStamped &msg)
-{
-    last_stiffness_force_(0) = msg.wrench.force.x;
-    last_stiffness_force_(1) = msg.wrench.force.y;
-    last_stiffness_force_(2) = msg.wrench.force.z;
-
-    last_stiffness_torque_(0) = msg.wrench.torque.x;
-    last_stiffness_torque_(1) = msg.wrench.torque.y;
-    last_stiffness_torque_(2) = msg.wrench.torque.z;
-
-    try {
-        const auto transform_stamped = tf_buffer_->lookupTransform( parent_frame_id_, child_frame_id_, tf2::TimePointZero);
-        last_stiffness_frame_pose_ = _geometry_msgs_transform_to_dq(transform_stamped.transform);
-    } catch (tf2::TransformException &ex) {
-        RCLCPP_WARN_STREAM(node_->get_logger(), "["+ std::string(node_->get_name()) + "]::" + ex.what());
-    }
-}
-
-DQ RobotDynamicsClient::_geometry_msgs_transform_to_dq(const geometry_msgs::msg::Transform& transform)
-{
-    const auto t = DQ(0,transform.translation.x,transform.translation.y,transform.translation.z);
-    const auto r = DQ(transform.rotation.w, transform.rotation.x, transform.rotation.y, transform.rotation.z);
-    return r + 0.5 * E_ * t * r;
-}
-
-VectorXd RobotDynamicsClient::get_stiffness_force()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicsClient]::calling get_stiffness_force on uninitialized topic");
-    return last_stiffness_force_;
-}
-VectorXd RobotDynamicsClient::get_stiffness_torque()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicsClient]::calling get_stiffness_torque on uninitialized topic");
-    return last_stiffness_torque_;
-}
-DQ RobotDynamicsClient::get_stiffness_frame_pose()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicsClient]::calling get_stiffness_frame_pose on uninitialized Interface");
-    return last_stiffness_frame_pose_;
-}
-
-bool RobotDynamicsClient::is_enabled() const
-{
-    if(last_stiffness_frame_pose_==0) return false;
-    return true;
-}

src/robot_dynamics/qros_robot_dynamics_py.cpp

@@ -1,60 +0,0 @@
-/*
-# 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: Quenitin Lin
-#
-# ################################################################
-#
-# Contributors:
-#      1. Quenitin Lin
-#
-# ################################################################
-*/
-
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-#include <pybind11/eigen.h>
-
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp>
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
-
-namespace py = pybind11;
-using RDC = qros::RobotDynamicsClient;
-using RDS = qros::RobotDynamicsServer;
-
-
-PYBIND11_MODULE(_qros_franka_robot_dynamics_py, m)
-{
-    py::class_<RDC>(m, "RobotDynamicsClient")
-        .def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())
-        .def("get_stiffness_force",&RDC::get_stiffness_force)
-        .def("get_stiffness_torque",&RDC::get_stiffness_torque)
-        .def("get_stiffness_frame_pose",&RDC::get_stiffness_frame_pose)
-        .def("is_enabled",&RDC::is_enabled,"Returns true if the RobotDynamicInterface is enabled.")
-        .def("get_topic_prefix",&RDC::get_topic_prefix);
-
-    py::class_<RDS>(m, "RobotDynamicsServer")
-        .def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())
-        .def("publish_stiffness",&RDS::publish_stiffness)
-        .def("set_world_to_base_tf", &RDS::set_world_to_base_tf)
-        .def("is_enabled",&RDS::is_enabled,"Returns true if the RobotDynamicProvider is enabled.")
-        .def("get_topic_prefix",&RDS::get_topic_prefix);
-
-}

src/robot_dynamics/qros_robot_dynamics_server.cpp

@@ -1,120 +0,0 @@
-/*
-# Copyright (c) 2024 Quenitin Lin
-#
-#    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: Quenitin Lin
-#
-# ################################################################
-#
-# Contributors:
-#      1. Quenitin Lin
-#
-# ################################################################
-*/
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
-
-using namespace qros;
-
-RobotDynamicsServer::RobotDynamicsServer(const std::shared_ptr<Node> &node, const std::string& topic_prefix):
-    node_(node), topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix),
-    child_frame_id_(topic_prefix_ + "_stiffness_frame"), parent_frame_id_(topic_prefix_ + "_base"),
-    tf_broadcaster_(std::make_shared<tf2_ros::TransformBroadcaster>(node_)),
-    static_base_tf_broadcaster_(std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_)),
-    world_to_base_tf_(0)
-{
-    // Strip potential leading slash
-    if(child_frame_id_.front() == '/'){child_frame_id_ = child_frame_id_.substr(1);}
-    if(parent_frame_id_.front() == '/'){parent_frame_id_ = parent_frame_id_.substr(1);}
-    RCLCPP_INFO_STREAM(node_->get_logger(),
-        "["+ std::string(node_->get_name()) + "]::Initializing RobotDynamicsServer with prefix " + topic_prefix);
-    publisher_cartesian_stiffness_ = node_->create_publisher<geometry_msgs::msg::WrenchStamped>(topic_prefix + "/get/cartesian_stiffness", 1);
-}
-
-geometry_msgs::msg::Transform RobotDynamicsServer::_dq_to_geometry_msgs_transform(const DQ& pose)
-{
-    geometry_msgs::msg::Transform tf_msg;
-    const auto t = translation(pose);
-    const auto r = rotation(pose);
-    tf_msg.translation.x = t.q(1);
-    tf_msg.translation.y = t.q(2);
-    tf_msg.translation.z = t.q(3);
-    tf_msg.rotation.w = r.q(0);
-    tf_msg.rotation.x = r.q(1);
-    tf_msg.rotation.y = r.q(2);
-    tf_msg.rotation.z = r.q(3);
-    return tf_msg;
-}
-
-void RobotDynamicsServer::set_world_to_base_tf(const DQ& world_to_base_tf)
-{
-    if(world_to_base_tf_==0)
-    {
-        world_to_base_tf_ = world_to_base_tf;
-        _publish_base_static_tf();
-    }else
-    {
-        throw std::runtime_error("["+ std::string(node_->get_name()) + "]::[RobotDynamicsServer]::The world to base transform has already been set");
-    }
-}
-
-void RobotDynamicsServer::_publish_base_static_tf()
-{
-    geometry_msgs::msg::TransformStamped base_tf;
-    base_tf.set__transform(_dq_to_geometry_msgs_transform(world_to_base_tf_));
-    std_msgs::msg::Header header;
-    header.set__stamp(node_->now());
-    header.set__frame_id(WORLD_FRAME_ID);
-    base_tf.set__header(header);
-    base_tf.set__child_frame_id(parent_frame_id_);
-    static_base_tf_broadcaster_->sendTransform(base_tf);
-
-}
-
-
-void RobotDynamicsServer::publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque)
-{
-    std_msgs::msg::Header header;
-    header.set__stamp(node_->now());
-    geometry_msgs::msg::WrenchStamped msg;
-    msg.set__header(header);
-    msg.header.set__frame_id(child_frame_id_);
-    msg.wrench.force.set__x(force(0));
-    msg.wrench.force.set__y(force(1));
-    msg.wrench.force.set__z(force(2));
-    msg.wrench.torque.set__x(torque(0));
-    msg.wrench.torque.set__y(torque(1));
-    msg.wrench.torque.set__z(torque(2));
-    publisher_cartesian_stiffness_->publish(msg);
-    if(seq_ % REDUCE_TF_PUBLISH_RATE == 0)
-    {
-        header.set__frame_id(parent_frame_id_);
-        geometry_msgs::msg::TransformStamped tf_msg;
-        tf_msg.set__transform(_dq_to_geometry_msgs_transform(base_to_stiffness));
-        tf_msg.set__header(header);
-        tf_msg.set__child_frame_id(child_frame_id_);
-        tf_broadcaster_->sendTransform(tf_msg);
-    }
-}
-
-
-bool RobotDynamicsServer::is_enabled() const
-{
-    return true; //Always enabled
-}
-

src/sas_robot_driver_coppelia_node.cpp

@@ -26,9 +26,6 @@
 #      1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
 #         - Adapted from sas_robot_driver_denso_node.cpp
 #           (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso_node.cpp)
-#      2. Quentin Lin (qlin1806@g.ecc.u-tokyo.ac.jp)
-#         - Adapted for simplify operation
-#         - porting to ROS2
 #
 # ################################################################
 */
@@ -39,9 +36,10 @@
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
 //#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
-#include <sas_common/sas_common.hpp>
+#include <sas_common/sas_common.h>
-#include <sas_conversions/eigen3_std_conversions.hpp>
+#include <sas_conversions/eigen3_std_conversions.h>
-#include <sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp>
+#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include "coppelia/sas_robot_driver_coppelia.h"
 
 /*********************************************
  * SIGNAL HANDLER
@@ -54,51 +52,52 @@ void sig_int_handler(int)
 }
 
 
-
 int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
     {
-        throw std::runtime_error("Error setting the signal int handler.");
+        throw std::runtime_error(ros::this_node::getName() + "::Error setting the signal int handler.");
     }
 
-    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
+    ros::init(argc, argv, "sas_robot_driver_coppelia_node", ros::init_options::NoSigintHandler);
-    auto context = rclcpp::contexts::get_global_default_context();
+    ROS_WARN("=====================================================================");
-
+    ROS_WARN("----------------------Juan Jose Quiroz Omana------------------------");
-    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_franka_coppelia_node");
+    ROS_WARN("=====================================================================");
-
+    ROS_INFO_STREAM(ros::this_node::getName()+"::Loading parameters from parameter server.");
-    const auto node_name = std::string(node->get_name());
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
-    RCLCPP_WARN(node->get_logger(),"-----------------Adapted by Quentin Lin ------------------------");
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
-    RCLCPP_INFO_STREAM_ONCE(node->get_logger(),":Loading parameters from parameter server.");
 
 
-    qros::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
+    ros::NodeHandle nh;
-    sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_coppelia_configuration.thread_sampling_time_sec);
+    sas::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
-    sas::get_ros_parameter(node,"vrep_ip",robot_driver_coppelia_configuration.vrep_ip);
+
-    sas::get_ros_parameter(node,"vrep_port",robot_driver_coppelia_configuration.vrep_port);
+    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_coppelia_configuration.ip);
-    sas::get_ros_parameter(node,"vrep_joint_names", robot_driver_coppelia_configuration.vrep_joint_names);
+    sas::get_ros_param(nh,"/robot_mode",      robot_driver_coppelia_configuration.robot_mode);
-    sas::get_ros_parameter(node,"vrep_dynamically_enabled", robot_driver_coppelia_configuration.vrep_dynamically_enabled);
+    sas::get_ros_param(nh,"/vrep_port", robot_driver_coppelia_configuration.port);
-    sas::get_ros_parameter(node,"robot_mode", robot_driver_coppelia_configuration.robot_mode);
+    sas::get_ros_param(nh,"/vrep_robot_joint_names", robot_driver_coppelia_configuration.jointnames);
-    sas::get_ros_parameter(node,"using_real_robot", robot_driver_coppelia_configuration.using_real_robot);
+    sas::get_ros_param(nh,"/mirror_mode", robot_driver_coppelia_configuration.mirror_mode);
-    sas::get_ros_parameter(node,"robot_topic_prefix", robot_driver_coppelia_configuration.robot_topic_prefix);
+    sas::get_ros_param(nh, "/real_robot_topic_prefix", robot_driver_coppelia_configuration.real_robot_topic_prefix);
-    sas::get_ros_parameter(node,"robot_parameter_file_path", robot_driver_coppelia_configuration.robot_parameter_file_path);
+    sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
+
+    sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
+    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);
+
+    robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
 
     try
     {
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"::Instantiating Coppelia robot mirror.");
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Coppelia robot.");
-        qros::RobotDriverCoppelia robot_driver_coppelia(node, robot_driver_coppelia_configuration,
+        sas::RobotDriverCoppelia robot_driver_coppelia(robot_driver_coppelia_configuration,
                                                        &kill_this_process);
-
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
-        return robot_driver_coppelia.start_control_loop();
+        sas::RobotDriverROS robot_driver_ros(nh,
+                                             &robot_driver_coppelia,
+                                             robot_driver_ros_configuration,
+                                             &kill_this_process);
+        robot_driver_ros.control_loop();
     }
     catch (const std::exception& e)
     {
-        kill_this_process = true;
+        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
-        RCLCPP_ERROR_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Exception::" + e.what());
-        shutdown(context, "Exception in main function: " + std::string(e.what()));
-        return -1;
     }
 
 

src/sas_robot_driver_franka_hand_node.cpp

@@ -33,9 +33,10 @@
 
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
-#include <sas_common/sas_common.hpp>
+#include <sas_common/sas_common.h>
-// #include <sas_conversions/eigen3_std_conversions.hpp>
+#include <sas_conversions/eigen3_std_conversions.h>
-#include <sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp>
+#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include "sas_robot_driver_franka_hand.h"
 
 
 /*********************************************
@@ -48,74 +49,67 @@ void sig_int_handler(int)
     kill_this_process = true;
 }
 
-
-
-template<typename T>
-void get_optional_parameter(std::shared_ptr<Node> node, const std::string &param_name, T &param)
-{
-    try
-    {
-        sas::get_ros_parameter(node,param_name,param);
-    }catch (const std::exception& e)
-    {
-        RCLCPP_INFO_STREAM(node->get_logger(), "["+std::string(node->get_name())+"]:Parameter " + param_name + " not found. Using default value. " + std::to_string(param));
-    }
-
-}
-
-
 int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
     {
-        throw std::runtime_error("Error setting the signal int handler.");
+        throw std::runtime_error(ros::this_node::getName() + "::Error setting the signal int handler.");
     }
+    ros::init(argc, argv, "sas_robot_driver_franka_hand_node", ros::init_options::NoSigintHandler);
+    ROS_WARN("=====================================================================");
+    ROS_WARN("---------------------------Quentin Lin-------------------------------");
+    ROS_WARN("=====================================================================");
+    ROS_INFO_STREAM(ros::this_node::getName()+"::Loading parameters from parameter server.");
 
-    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
-    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_franka_hand_node");
 
-    const auto node_name = std::string(node->get_name());
+    ros::NodeHandle nh;
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
+    sas::RobotDriverFrankaHandConfiguration robot_driver_franka_hand_configuration;
-    RCLCPP_WARN(node->get_logger(),"---------------------------Quentin Lin-------------------------------");
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
-    RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading parameters from parameter server.");
 
-    qros::EffectorDriverFrankaHandConfiguration robot_driver_franka_hand_configuration;
+    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_hand_configuration.robot_ip);
-    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);
-    sas::get_ros_parameter(node,"default_speed",robot_driver_franka_hand_configuration.default_speed);
-    sas::get_ros_parameter(node,"default_epsilon_inner",robot_driver_franka_hand_configuration.default_epsilon_inner);
-    sas::get_ros_parameter(node,"default_epsilon_outer",robot_driver_franka_hand_configuration.default_epsilon_outer);
 
-    qros::EffectorDriverFrankaHand franka_hand_driver(
+
-        node_name,
+    sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
+
+    sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
+    bool q_lim_override = false;
+    if(nh.hasParam("q_min") || nh.hasParam("q_max"))
+    {
+        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);
+        q_lim_override = true;
+    }else
+    {
+
+    }
+    robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
+
+    sas::RobotDriverFrankaHand franka_hand_driver(
         robot_driver_franka_hand_configuration,
-        node,
+        robot_driver_ros_configuration,
         &kill_this_process
     );
     try
     {
-        RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Instantiating Franka hand.");
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka hand.");
         franka_hand_driver.connect();
         franka_hand_driver.initialize();
-        RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Starting control loop.");
+
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating control loop.");
         franka_hand_driver.start_control_loop();
 
     }
     catch (const std::exception& e)
     {
-        RCLCPP_ERROR_STREAM(node->get_logger(), "["+node_name+"]::Exception::" + e.what());
+        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
     }catch (...)
     {
-        RCLCPP_ERROR_STREAM(node->get_logger(), "["+node_name+"]::Exception::Unknown exception.");
+        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::Unknown exception.");
     }
-    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Exiting...");
+    ROS_INFO_STREAM(ros::this_node::getName()+"::Exiting...");
     franka_hand_driver.deinitialize();
-    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Deinitialized.");
+    ROS_INFO_STREAM(ros::this_node::getName()+"::deinitialized.");
     franka_hand_driver.disconnect();
-    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Disconnected.");
+    ROS_INFO_STREAM(ros::this_node::getName()+"::disconnected.");
 
 
   return 0;

src/sas_robot_driver_franka_node.cpp

@@ -26,8 +26,6 @@
 #      1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
 #         - Adapted from sas_robot_driver_denso_node.cpp
 #           (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso_node.cpp)
-#      2. Quentin Lin
-#         - Adaption to ROS2
 #
 # ################################################################
 */
@@ -37,12 +35,12 @@
 
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
-#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
+//#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
-#include <sas_common/sas_common.hpp>
+#include <sas_common/sas_common.h>
-#include <sas_conversions/eigen3_std_conversions.hpp>
+#include <sas_conversions/eigen3_std_conversions.h>
-#include <sas_robot_driver/sas_robot_driver_ros.hpp>
+#include <sas_robot_driver/sas_robot_driver_ros.h>
-#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
+#include "sas_robot_driver_franka.h"
-#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
+#include "sas_robot_dynamic_provider.h"
 
 
 /*********************************************
@@ -76,106 +74,80 @@ std::array<T, N> std_vec_to_std_array(const std::vector<T>& vector)
     }
     return array;
 }
-VectorXd std_vec_to_eigen_vector(const std::vector<double>& vector)
-{
-    VectorXd eigen_vector(vector.size());
-    for(std::size_t i = 0; i < vector.size(); i++)
-    {
-        eigen_vector(i) = vector[i];
-    }
-    return eigen_vector;
-}
 
 
 int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
     {
-        throw std::runtime_error("Error setting the signal int handler.");
+        throw std::runtime_error(ros::this_node::getName() + "::Error setting the signal int handler.");
     }
 
-    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
+    ros::init(argc, argv, "sas_robot_driver_franka_node", ros::init_options::NoSigintHandler);
-    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_franka_node");
+    ROS_WARN("=====================================================================");
+    ROS_WARN("----------------------Juan Jose Quiroz Omana------------------------");
+    ROS_WARN("=====================================================================");
+    ROS_INFO_STREAM(ros::this_node::getName()+"::Loading parameters from parameter server.");
 
-    const auto node_name = std::string(node->get_name());
+
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
+    ros::NodeHandle nh;
-    RCLCPP_WARN(node->get_logger(),"-----------------Adapted by Quentin Lin ------------------------");
-    RCLCPP_WARN(node->get_logger(),"=====================================================================");
-    RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading parameters from parameter server.");
-    
     sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
     RobotInterfaceFranka::FrankaInterfaceConfiguration franka_interface_configuration;
 
-    sas::get_ros_parameter(node,"robot_ip_address",robot_driver_franka_configuration.ip_address);
+    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
-    sas::get_ros_parameter(node,"robot_mode",      robot_driver_franka_configuration.mode);
+    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"))
-    try {
+    {
-        sas::get_ros_parameter(node,"force_upper_limits_scaling_factor",upper_scale_factor);
+        sas::get_ros_param(nh,"/force_upper_limits_scaling_factor",upper_scale_factor);
-        RCLCPP_WARN_STREAM_ONCE(node->get_logger(),"Set force upper limits scaling factor: " << upper_scale_factor);
+        ROS_WARN_STREAM(ros::this_node::getName()+"::Set force upper limits scaling factor: " << upper_scale_factor);
-    }catch(...) {
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"Force upper limits scaling factor is not set.");
     }
-
+    if(nh.hasParam(ros::this_node::getName()+"/upper_torque_threshold")) {
-    try {
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold override and set.");
         std::vector<double> upper_torque_threshold_std_vec;
-        sas::get_ros_parameter(node,"upper_torque_threshold",upper_torque_threshold_std_vec);
+        sas::get_ros_param(nh,"/upper_torque_threshold",upper_torque_threshold_std_vec);
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper torque threshold override and set.");
         franka_interface_configuration.upper_torque_threshold = std_vec_to_std_array<double,7>(upper_torque_threshold_std_vec);
-    }catch(...) {
+    }else {
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper torque threshold not set. Using default with value scalling.");
+        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);
     }
-    try {
+    if(nh.hasParam(ros::this_node::getName()+"/upper_force_threshold")) {
-        std::vector<double> upper_force_threshold_std_vec;
+        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold override and set.");
-        sas::get_ros_parameter(node,"upper_force_threshold",upper_force_threshold_std_vec);
+        std::vector<double> upper_torque_threshold_std_vec;
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper force threshold override and set.");
+        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_force_threshold_std_vec);
+        franka_interface_configuration.upper_force_threshold = std_vec_to_std_array<double,6>(upper_torque_threshold_std_vec);
-    }catch(...) {
+    }else {
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper torque threshold not set. Using default with value scalling.");
+        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);
     }
-    try {
+
-        std::string robot_parameter_file_path;
-        sas::get_ros_parameter(node,"robot_parameter_file_path",robot_parameter_file_path);
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Loading robot parameters from file: " + robot_parameter_file_path);
-        const auto robot = DQ_JsonReader::get_from_json<DQ_SerialManipulatorDH>(robot_parameter_file_path);
-        robot_driver_franka_configuration.robot_reference_frame = robot.get_reference_frame();
-    }catch(...) {
-        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Robot parameter file path not set. Robot Model Unknow.");
-    }
 
     robot_driver_franka_configuration.interface_configuration = franka_interface_configuration;
 
     sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
 
-    sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_ros_configuration.thread_sampling_time_sec);
+    sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
-    sas::get_ros_parameter(node,"q_min",robot_driver_ros_configuration.q_min);
+    sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
-    sas::get_ros_parameter(node,"q_max",robot_driver_ros_configuration.q_max);
+    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 = node_name;
+    robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
-    std::shared_ptr<qros::RobotDynamicsServer> robot_dynamic_provider_ptr = std::make_shared<qros::RobotDynamicsServer>(node, robot_driver_ros_configuration.robot_driver_provider_prefix);
+    sas::RobotDynamicProvider robot_dynamic_provider(nh, robot_driver_ros_configuration.robot_driver_provider_prefix);
-    if(robot_driver_franka_configuration.robot_reference_frame!=0)
+
-    {
-        robot_dynamic_provider_ptr->set_world_to_base_tf(robot_driver_franka_configuration.robot_reference_frame);
-    }
 
     try
         {
-            RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating Franka robot.");
+            ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka robot.");
-            std::shared_ptr<sas::RobotDriverFranka> robot_driver_franka = std::make_shared<sas::RobotDriverFranka>(
+            sas::RobotDriverFranka robot_driver_franka(
-                node,
+                &robot_dynamic_provider,
-                robot_dynamic_provider_ptr,
                 robot_driver_franka_configuration,
                 &kill_this_process
             );
-            std::tuple<VectorXd, VectorXd> joint_limits = {std_vec_to_eigen_vector(robot_driver_ros_configuration.q_min), std_vec_to_eigen_vector(robot_driver_ros_configuration.q_max)};
+            //robot_driver_franka.set_joint_limits({qmin, qmax});
-            robot_driver_franka -> set_joint_limits(joint_limits);
+            ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
-            RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS.");
+            sas::RobotDriverROS robot_driver_ros(nh,
-            sas::RobotDriverROS robot_driver_ros(node,
+                                                &robot_driver_franka, 
-                                                robot_driver_franka,
                                                 robot_driver_ros_configuration,
                                                 &kill_this_process);
             robot_driver_ros.control_loop();
@@ -183,7 +155,7 @@ int main(int argc, char **argv)
     catch (const std::exception& e)
     {
         kill_this_process = true;
-        RCLCPP_ERROR_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Exception::" + e.what());
+        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
     }