Merge remote-tracking branch 'gitea/ros2_jazzy' into ros2_jazzy

.gitmodules

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

CMakeLists.txt

@@ -1,68 +1,33 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 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)
-add_compile_options(-Werror=return-type)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
 
-#Add custom (non compiling) targets so launch scripts and python files show up in QT Creator's project view.
+find_package(pybind11 REQUIRED)
-file(GLOB_RECURSE EXTRA_FILES */*)
+find_package(ament_cmake REQUIRED)
-#add_custom_target(${PROJECT_NAME}_OTHER_FILES ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
+find_package(rclcpp REQUIRED)
-add_custom_target(cfg ALL WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} SOURCES ${EXTRA_FILES})
+find_package(geometry_msgs REQUIRED)
-
+find_package(std_msgs REQUIRED)
-## Find catkin macros and libraries
+find_package(std_srvs REQUIRED)
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+find_package(sas_common REQUIRED)
-## is used, also find other catkin packages
+find_package(sas_core REQUIRED)
-find_package(catkin REQUIRED COMPONENTS
+find_package(sas_msgs REQUIRED)
-        roscpp
+find_package(sas_conversions REQUIRED)
-        rospy
-        std_msgs
-        tf2_ros
-        tf2
-        sas_common
-        sas_clock
-        sas_robot_driver
-        sas_patient_side_manager
-        message_generation
-        pybind11_catkin
-)
-
-
-add_service_files(
-        DIRECTORY srv
-        FILES
-        Move.srv
-        Grasp.srv
-)
-
-add_message_files(
-        DIRECTORY msg
-        FILES
-        GripperState.msg
-)
-
-catkin_python_setup()
-
-generate_messages(
-        DEPENDENCIES
-        std_msgs
-
-)
-
-
-catkin_package(
-        INCLUDE_DIRS include
-        CATKIN_DEPENDS roscpp rospy sas_common sas_clock sas_robot_driver tf2_ros tf2 pybind11_catkin message_runtime std_msgs
-)
-
-find_package(Franka REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(yaml-cpp REQUIRED)
+find_package(tf2_ros REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
+find_package(tf2 REQUIRED)
+find_package(sas_robot_driver REQUIRED)
+find_package(Franka REQUIRED)
+find_package(pinocchio REQUIRED)
+find_package(sas_robot_driver_franka_interfaces REQUIRED)  # Add this line
 
-# 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)
@@ -72,15 +37,76 @@ if (CMAKE_VERSION VERSION_LESS "3.7.0")
 endif ()
 find_package(Qt5 COMPONENTS Widgets REQUIRED)
 
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+##### CPP LIBRARY initial #####
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
+include_directories(
+        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)
+target_link_libraries(MotionGenerator Franka::Franka pinocchio::pinocchio Eigen3::Eigen)
-
 
 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
@@ -88,14 +114,21 @@ target_link_libraries(QuadraticProgramMotionGenerator
         dqrobotics
         ConstraintsManager)
 
+
 add_library(CustomMotionGeneration src/generator/custom_motion_generation.cpp)
 target_link_libraries(CustomMotionGeneration
         qpOASES
         dqrobotics
         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
         MotionGenerator
         ConstraintsManager
@@ -104,136 +137,163 @@ target_link_libraries(robot_interface_franka Franka::Franka
 
 add_library(robot_interface_hand src/hand/robot_interface_hand.cpp)
 target_link_libraries(robot_interface_hand Franka::Franka
+        pinocchio::pinocchio
         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/robot_dynamics
-        src/hand
-        src/joint
-        ${catkin_INCLUDE_DIRS}
-        constraints_manager/include
-)
-
-
-add_library(qros_robot_dynamics_provider src/robot_dynamics/qros_robot_dynamics_provider.cpp)
-target_link_libraries(qros_robot_dynamics_provider
-        ${catkin_LIBRARIES}
-        dqrobotics)
-
-add_library(qros_robot_dynamics_interface src/robot_dynamics/qros_robot_dynamics_interface.cpp)
-target_link_libraries(qros_robot_dynamics_interface
-        ${catkin_LIBRARIES}
-        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
-        qros_robot_dynamics_provider
+        ${PROJECT_NAME}_robot_dynamics
         dqrobotics
         dqrobotics-interface-json11
         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
-#        robot_interface_hand
+        Franka::Franka
-        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  #####
 
 
-add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
+##### SAS Franka Robot Driver Node #####
-target_link_libraries(sas_robot_driver_coppelia
-        dqrobotics
-        dqrobotics-interface-vrep)
-
-add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(sas_robot_driver_coppelia ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(qros_effector_driver_franka_hand ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-add_executable(sas_robot_driver_coppelia_node src/sas_robot_driver_coppelia_node.cpp)
-target_link_libraries(sas_robot_driver_coppelia_node
-        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
+ament_target_dependencies(sas_robot_driver_franka_node
-        sas_robot_driver_franka
+        rclcpp sas_common sas_core
-        ${catkin_LIBRARIES})
+        sas_robot_driver)
+target_link_libraries(sas_robot_driver_franka_node sas_robot_driver_franka)
+
+install(TARGETS
+        sas_robot_driver_franka_node
+        DESTINATION lib/${PROJECT_NAME})
 
 
+##### 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
+        qros_effector_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/mainwindow.cpp
         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
         dqrobotics
-        ${catkin_LIBRARIES}
         robot_interface_franka
 )
 
-
-#####################################################################################
-# python binding
-include_directories(
-        include/robot_dynamic
-)
-pybind_add_module(_qros_robot_dynamic SHARED
-        src/robot_dynamics/qros_robot_dynamic_py.cpp src/robot_dynamics/qros_robot_dynamics_interface.cpp src/robot_dynamics/qros_robot_dynamics_provider.cpp
-)
-target_compile_definitions(_qros_robot_dynamic PRIVATE BUILD_PYBIND)
-# https://github.com/pybind/pybind11/issues/387
-target_link_libraries(_qros_robot_dynamic PRIVATE ${catkin_LIBRARIES} -ldqrobotics)
-
-
 if (QT_VERSION_MAJOR EQUAL 6)
     qt_finalize_executable(JuankaEmika)
 endif ()
 
-install(TARGETS ${PROJECT_NAME}
+install(TARGETS
-        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        JuankaEmika
+        DESTINATION lib/${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
 )
 
-install(TARGETS sas_robot_driver_franka_node
+target_include_directories(_qros_franka_robot_dynamics_py
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        PUBLIC
-)
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/robot_dynamics>
+        $<INSTALL_INTERFACE:include/robot_dynamics>)
 
-install(TARGETS sas_robot_driver_coppelia_node
+target_compile_definitions(_qros_franka_robot_dynamics_py PRIVATE IS_SAS_PYTHON_BUILD)
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# https://github.com/pybind/pybind11/issues/387
-)
+target_link_libraries(_qros_franka_robot_dynamics_py PRIVATE ${PROJECT_NAME}_robot_dynamics -ldqrobotics)
 
-install(TARGETS sas_robot_driver_franka_hand_node
+install(TARGETS _qros_franka_robot_dynamics_py
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
 )
+##END## PYBIND11 LIBRARY ROBOT_DYNAMICS #####
 
-## Mark cpp header files for installation
+
-install(DIRECTORY include/${PROJECT_NAME}/
+install(
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        DIRECTORY include/
-        FILES_MATCHING PATTERN "*.h"
+        DESTINATION include
-        #   PATTERN ".svn" EXCLUDE
 )
 
 
-install(TARGETS _qros_robot_dynamic
+
-        LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
+
+##### LAUNCH FILES #####
+
+install(DIRECTORY
+        launch
+        DESTINATION share/${PROJECT_NAME}/
 )
 
+##END## LAUNCH FILES #####
+
+ament_package()
+
+
+
+
+
+
+

README.md

@@ -1,5 +1,3 @@
 ![](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)

constraints_manager/LICENSE

@@ -0,0 +1,165 @@
+                   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

@@ -0,0 +1,2 @@
+![](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

@@ -0,0 +1,22 @@
+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

@@ -0,0 +1,26 @@
+#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

@@ -0,0 +1,67 @@
+/*
+# 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

@@ -0,0 +1,259 @@
+/*
+# 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/Grasp.h

@@ -1,123 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/Grasp.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H
-
-#include <ros/service_traits.h>
-
-
-#include <sas_robot_driver_franka/GraspRequest.h>
-#include <sas_robot_driver_franka/GraspResponse.h>
-
-
-namespace sas_robot_driver_franka
-{
-
-struct Grasp
-{
-
-typedef GraspRequest Request;
-typedef GraspResponse Response;
-Request request;
-Response response;
-
-typedef Request RequestType;
-typedef Response ResponseType;
-
-}; // struct Grasp
-} // namespace sas_robot_driver_franka
-
-
-namespace ros
-{
-namespace service_traits
-{
-
-
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::Grasp > {
-  static const char* value()
-  {
-    return "6752ec080e002a60682f31654d420583";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::Grasp&) { return value(); }
-};
-
-template<>
-struct DataType< ::sas_robot_driver_franka::Grasp > {
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/Grasp";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::Grasp&) { return value(); }
-};
-
-
-// service_traits::MD5Sum< ::sas_robot_driver_franka::GraspRequest> should match
-// service_traits::MD5Sum< ::sas_robot_driver_franka::Grasp >
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::GraspRequest>
-{
-  static const char* value()
-  {
-    return MD5Sum< ::sas_robot_driver_franka::Grasp >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::GraspRequest&)
-  {
-    return value();
-  }
-};
-
-// service_traits::DataType< ::sas_robot_driver_franka::GraspRequest> should match
-// service_traits::DataType< ::sas_robot_driver_franka::Grasp >
-template<>
-struct DataType< ::sas_robot_driver_franka::GraspRequest>
-{
-  static const char* value()
-  {
-    return DataType< ::sas_robot_driver_franka::Grasp >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::GraspRequest&)
-  {
-    return value();
-  }
-};
-
-// service_traits::MD5Sum< ::sas_robot_driver_franka::GraspResponse> should match
-// service_traits::MD5Sum< ::sas_robot_driver_franka::Grasp >
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::GraspResponse>
-{
-  static const char* value()
-  {
-    return MD5Sum< ::sas_robot_driver_franka::Grasp >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::GraspResponse&)
-  {
-    return value();
-  }
-};
-
-// service_traits::DataType< ::sas_robot_driver_franka::GraspResponse> should match
-// service_traits::DataType< ::sas_robot_driver_franka::Grasp >
-template<>
-struct DataType< ::sas_robot_driver_franka::GraspResponse>
-{
-  static const char* value()
-  {
-    return DataType< ::sas_robot_driver_franka::Grasp >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::GraspResponse&)
-  {
-    return value();
-  }
-};
-
-} // namespace service_traits
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H

include/GraspRequest.h

@@ -1,235 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/GraspRequest.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H
-
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace sas_robot_driver_franka
-{
-template <class ContainerAllocator>
-struct GraspRequest_
-{
-  typedef GraspRequest_<ContainerAllocator> Type;
-
-  GraspRequest_()
-    : width(0.0)
-    , speed(0.0)
-    , force(0.0)
-    , epsilon_inner(0.0)
-    , epsilon_outer(0.0)  {
-    }
-  GraspRequest_(const ContainerAllocator& _alloc)
-    : width(0.0)
-    , speed(0.0)
-    , force(0.0)
-    , epsilon_inner(0.0)
-    , epsilon_outer(0.0)  {
-  (void)_alloc;
-    }
-
-
-
-   typedef float _width_type;
-  _width_type width;
-
-   typedef float _speed_type;
-  _speed_type speed;
-
-   typedef float _force_type;
-  _force_type force;
-
-   typedef float _epsilon_inner_type;
-  _epsilon_inner_type epsilon_inner;
-
-   typedef float _epsilon_outer_type;
-  _epsilon_outer_type epsilon_outer;
-
-
-
-
-
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> > Ptr;
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> const> ConstPtr;
-
-}; // struct GraspRequest_
-
-typedef ::sas_robot_driver_franka::GraspRequest_<std::allocator<void> > GraspRequest;
-
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest > GraspRequestPtr;
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest const> GraspRequestConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator2> & rhs)
-{
-  return lhs.width == rhs.width &&
-    lhs.speed == rhs.speed &&
-    lhs.force == rhs.force &&
-    lhs.epsilon_inner == rhs.epsilon_inner &&
-    lhs.epsilon_outer == rhs.epsilon_outer;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator2> & rhs)
-{
-  return !(lhs == rhs);
-}
-
-
-} // namespace sas_robot_driver_franka
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-  : FalseType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> const>
-  : FalseType
-  { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "337f46ba15e58c568d47e27881cf893c";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator>&) { return value(); }
-  static const uint64_t static_value1 = 0x337f46ba15e58c56ULL;
-  static const uint64_t static_value2 = 0x8d47e27881cf893cULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/GraspRequest";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "float32 width\n"
-"float32 speed\n"
-"float32 force\n"
-"float32 epsilon_inner\n"
-"float32 epsilon_outer\n"
-;
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
-  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-  {
-    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
-    {
-      stream.next(m.width);
-      stream.next(m.speed);
-      stream.next(m.force);
-      stream.next(m.epsilon_inner);
-      stream.next(m.epsilon_outer);
-    }
-
-    ROS_DECLARE_ALLINONE_SERIALIZER
-  }; // struct GraspRequest_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator> >
-{
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GraspRequest_<ContainerAllocator>& v)
-  {
-    s << indent << "width: ";
-    Printer<float>::stream(s, indent + "  ", v.width);
-    s << indent << "speed: ";
-    Printer<float>::stream(s, indent + "  ", v.speed);
-    s << indent << "force: ";
-    Printer<float>::stream(s, indent + "  ", v.force);
-    s << indent << "epsilon_inner: ";
-    Printer<float>::stream(s, indent + "  ", v.epsilon_inner);
-    s << indent << "epsilon_outer: ";
-    Printer<float>::stream(s, indent + "  ", v.epsilon_outer);
-  }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H

include/GraspResponse.h

@@ -1,195 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/GraspResponse.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H
-
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace sas_robot_driver_franka
-{
-template <class ContainerAllocator>
-struct GraspResponse_
-{
-  typedef GraspResponse_<ContainerAllocator> Type;
-
-  GraspResponse_()
-    : success(false)  {
-    }
-  GraspResponse_(const ContainerAllocator& _alloc)
-    : success(false)  {
-  (void)_alloc;
-    }
-
-
-
-   typedef uint8_t _success_type;
-  _success_type success;
-
-
-
-
-
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> > Ptr;
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const> ConstPtr;
-
-}; // struct GraspResponse_
-
-typedef ::sas_robot_driver_franka::GraspResponse_<std::allocator<void> > GraspResponse;
-
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse > GraspResponsePtr;
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse const> GraspResponseConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator2> & rhs)
-{
-  return lhs.success == rhs.success;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator2> & rhs)
-{
-  return !(lhs == rhs);
-}
-
-
-} // namespace sas_robot_driver_franka
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-  : FalseType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
-  : FalseType
-  { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "358e233cde0c8a8bcfea4ce193f8fc15";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
-  static const uint64_t static_value1 = 0x358e233cde0c8a8bULL;
-  static const uint64_t static_value2 = 0xcfea4ce193f8fc15ULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/GraspResponse";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "bool success\n"
-;
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
-  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-  {
-    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
-    {
-      stream.next(m.success);
-    }
-
-    ROS_DECLARE_ALLINONE_SERIALIZER
-  }; // struct GraspResponse_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
-{
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>& v)
-  {
-    s << indent << "success: ";
-    Printer<uint8_t>::stream(s, indent + "  ", v.success);
-  }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H

include/GripperState.h

@@ -1,235 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/GripperState.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H
-
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace sas_robot_driver_franka
-{
-template <class ContainerAllocator>
-struct GripperState_
-{
-  typedef GripperState_<ContainerAllocator> Type;
-
-  GripperState_()
-    : width(0.0)
-    , max_width(0.0)
-    , is_grasped(false)
-    , temperature(0)
-    , duration_ms(0)  {
-    }
-  GripperState_(const ContainerAllocator& _alloc)
-    : width(0.0)
-    , max_width(0.0)
-    , is_grasped(false)
-    , temperature(0)
-    , duration_ms(0)  {
-  (void)_alloc;
-    }
-
-
-
-   typedef float _width_type;
-  _width_type width;
-
-   typedef float _max_width_type;
-  _max_width_type max_width;
-
-   typedef uint8_t _is_grasped_type;
-  _is_grasped_type is_grasped;
-
-   typedef uint16_t _temperature_type;
-  _temperature_type temperature;
-
-   typedef uint64_t _duration_ms_type;
-  _duration_ms_type duration_ms;
-
-
-
-
-
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> > Ptr;
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> const> ConstPtr;
-
-}; // struct GripperState_
-
-typedef ::sas_robot_driver_franka::GripperState_<std::allocator<void> > GripperState;
-
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState > GripperStatePtr;
-typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState const> GripperStateConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GripperState_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::sas_robot_driver_franka::GripperState_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GripperState_<ContainerAllocator2> & rhs)
-{
-  return lhs.width == rhs.width &&
-    lhs.max_width == rhs.max_width &&
-    lhs.is_grasped == rhs.is_grasped &&
-    lhs.temperature == rhs.temperature &&
-    lhs.duration_ms == rhs.duration_ms;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::sas_robot_driver_franka::GripperState_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GripperState_<ContainerAllocator2> & rhs)
-{
-  return !(lhs == rhs);
-}
-
-
-} // namespace sas_robot_driver_franka
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-  : FalseType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> const>
-  : FalseType
-  { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "53f8669159aaded70b1783087f07679d";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GripperState_<ContainerAllocator>&) { return value(); }
-  static const uint64_t static_value1 = 0x53f8669159aaded7ULL;
-  static const uint64_t static_value2 = 0x0b1783087f07679dULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/GripperState";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GripperState_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "float32 width\n"
-"float32 max_width\n"
-"bool is_grasped\n"
-"uint16 temperature\n"
-"uint64 duration_ms\n"
-;
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::GripperState_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
-  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-  {
-    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
-    {
-      stream.next(m.width);
-      stream.next(m.max_width);
-      stream.next(m.is_grasped);
-      stream.next(m.temperature);
-      stream.next(m.duration_ms);
-    }
-
-    ROS_DECLARE_ALLINONE_SERIALIZER
-  }; // struct GripperState_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::sas_robot_driver_franka::GripperState_<ContainerAllocator> >
-{
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GripperState_<ContainerAllocator>& v)
-  {
-    s << indent << "width: ";
-    Printer<float>::stream(s, indent + "  ", v.width);
-    s << indent << "max_width: ";
-    Printer<float>::stream(s, indent + "  ", v.max_width);
-    s << indent << "is_grasped: ";
-    Printer<uint8_t>::stream(s, indent + "  ", v.is_grasped);
-    s << indent << "temperature: ";
-    Printer<uint16_t>::stream(s, indent + "  ", v.temperature);
-    s << indent << "duration_ms: ";
-    Printer<uint64_t>::stream(s, indent + "  ", v.duration_ms);
-  }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H

include/Move.h

@@ -1,123 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/Move.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H
-
-#include <ros/service_traits.h>
-
-
-#include <sas_robot_driver_franka/MoveRequest.h>
-#include <sas_robot_driver_franka/MoveResponse.h>
-
-
-namespace sas_robot_driver_franka
-{
-
-struct Move
-{
-
-typedef MoveRequest Request;
-typedef MoveResponse Response;
-Request request;
-Response response;
-
-typedef Request RequestType;
-typedef Response ResponseType;
-
-}; // struct Move
-} // namespace sas_robot_driver_franka
-
-
-namespace ros
-{
-namespace service_traits
-{
-
-
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::Move > {
-  static const char* value()
-  {
-    return "73e650ba1526b28d9e3f1be7ee33a441";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::Move&) { return value(); }
-};
-
-template<>
-struct DataType< ::sas_robot_driver_franka::Move > {
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/Move";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::Move&) { return value(); }
-};
-
-
-// service_traits::MD5Sum< ::sas_robot_driver_franka::MoveRequest> should match
-// service_traits::MD5Sum< ::sas_robot_driver_franka::Move >
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::MoveRequest>
-{
-  static const char* value()
-  {
-    return MD5Sum< ::sas_robot_driver_franka::Move >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::MoveRequest&)
-  {
-    return value();
-  }
-};
-
-// service_traits::DataType< ::sas_robot_driver_franka::MoveRequest> should match
-// service_traits::DataType< ::sas_robot_driver_franka::Move >
-template<>
-struct DataType< ::sas_robot_driver_franka::MoveRequest>
-{
-  static const char* value()
-  {
-    return DataType< ::sas_robot_driver_franka::Move >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::MoveRequest&)
-  {
-    return value();
-  }
-};
-
-// service_traits::MD5Sum< ::sas_robot_driver_franka::MoveResponse> should match
-// service_traits::MD5Sum< ::sas_robot_driver_franka::Move >
-template<>
-struct MD5Sum< ::sas_robot_driver_franka::MoveResponse>
-{
-  static const char* value()
-  {
-    return MD5Sum< ::sas_robot_driver_franka::Move >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::MoveResponse&)
-  {
-    return value();
-  }
-};
-
-// service_traits::DataType< ::sas_robot_driver_franka::MoveResponse> should match
-// service_traits::DataType< ::sas_robot_driver_franka::Move >
-template<>
-struct DataType< ::sas_robot_driver_franka::MoveResponse>
-{
-  static const char* value()
-  {
-    return DataType< ::sas_robot_driver_franka::Move >::value();
-  }
-  static const char* value(const ::sas_robot_driver_franka::MoveResponse&)
-  {
-    return value();
-  }
-};
-
-} // namespace service_traits
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H

include/MoveRequest.h

@@ -1,205 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/MoveRequest.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H
-
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace sas_robot_driver_franka
-{
-template <class ContainerAllocator>
-struct MoveRequest_
-{
-  typedef MoveRequest_<ContainerAllocator> Type;
-
-  MoveRequest_()
-    : width(0.0)
-    , speed(0.0)  {
-    }
-  MoveRequest_(const ContainerAllocator& _alloc)
-    : width(0.0)
-    , speed(0.0)  {
-  (void)_alloc;
-    }
-
-
-
-   typedef float _width_type;
-  _width_type width;
-
-   typedef float _speed_type;
-  _speed_type speed;
-
-
-
-
-
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> > Ptr;
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const> ConstPtr;
-
-}; // struct MoveRequest_
-
-typedef ::sas_robot_driver_franka::MoveRequest_<std::allocator<void> > MoveRequest;
-
-typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest > MoveRequestPtr;
-typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest const> MoveRequestConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator2> & rhs)
-{
-  return lhs.width == rhs.width &&
-    lhs.speed == rhs.speed;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator2> & rhs)
-{
-  return !(lhs == rhs);
-}
-
-
-} // namespace sas_robot_driver_franka
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-  : FalseType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
-  : FalseType
-  { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "b2d4f46fe020a06d64128c90310c767d";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
-  static const uint64_t static_value1 = 0xb2d4f46fe020a06dULL;
-  static const uint64_t static_value2 = 0x64128c90310c767dULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/MoveRequest";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "float32 width\n"
-"float32 speed\n"
-;
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
-  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-  {
-    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
-    {
-      stream.next(m.width);
-      stream.next(m.speed);
-    }
-
-    ROS_DECLARE_ALLINONE_SERIALIZER
-  }; // struct MoveRequest_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
-{
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>& v)
-  {
-    s << indent << "width: ";
-    Printer<float>::stream(s, indent + "  ", v.width);
-    s << indent << "speed: ";
-    Printer<float>::stream(s, indent + "  ", v.speed);
-  }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H

include/MoveResponse.h

@@ -1,195 +0,0 @@
-// Generated by gencpp from file sas_robot_driver_franka/MoveResponse.msg
-// DO NOT EDIT!
-
-
-#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H
-#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H
-
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace sas_robot_driver_franka
-{
-template <class ContainerAllocator>
-struct MoveResponse_
-{
-  typedef MoveResponse_<ContainerAllocator> Type;
-
-  MoveResponse_()
-    : success(false)  {
-    }
-  MoveResponse_(const ContainerAllocator& _alloc)
-    : success(false)  {
-  (void)_alloc;
-    }
-
-
-
-   typedef uint8_t _success_type;
-  _success_type success;
-
-
-
-
-
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> > Ptr;
-  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> const> ConstPtr;
-
-}; // struct MoveResponse_
-
-typedef ::sas_robot_driver_franka::MoveResponse_<std::allocator<void> > MoveResponse;
-
-typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse > MoveResponsePtr;
-typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse const> MoveResponseConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator2> & rhs)
-{
-  return lhs.success == rhs.success;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator2> & rhs)
-{
-  return !(lhs == rhs);
-}
-
-
-} // namespace sas_robot_driver_franka
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> const>
-  : TrueType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-  : FalseType
-  { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> const>
-  : FalseType
-  { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "358e233cde0c8a8bcfea4ce193f8fc15";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator>&) { return value(); }
-  static const uint64_t static_value1 = 0x358e233cde0c8a8bULL;
-  static const uint64_t static_value2 = 0xcfea4ce193f8fc15ULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "sas_robot_driver_franka/MoveResponse";
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-{
-  static const char* value()
-  {
-    return "bool success\n"
-;
-  }
-
-  static const char* value(const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
-  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-  {
-    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
-    {
-      stream.next(m.success);
-    }
-
-    ROS_DECLARE_ALLINONE_SERIALIZER
-  }; // struct MoveResponse_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator> >
-{
-  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::MoveResponse_<ContainerAllocator>& v)
-  {
-    s << indent << "success: ";
-    Printer<uint8_t>::stream(s, indent + "  ", v.success);
-  }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H

include/sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp

@@ -0,0 +1,139 @@
+/*
+# 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/generator/custom_motion_generation.h

@@ -32,13 +32,13 @@
 
 #pragma once
 #include <array>
-#include <Eigen/Core>
+#include <eigen3/Eigen/Core>
-#include <Eigen/Dense>
+#include <eigen3/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/sas_robot_driver_franka/generator/motion_generator.h

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

include/sas_robot_driver_franka/generator/quadratic_program_motion_generator.h

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

include/sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp

@@ -42,21 +42,26 @@
 // #define IN_TESTING
 
 // #include <sas_robot_driver/sas_robot_driver.h>
-#include <sas_clock/sas_clock.h>
+#include <sas_core/sas_clock.hpp>
-#include <ros/ros.h>
-#include <ros/service.h>
-#include <sas_robot_driver_franka/Grasp.h>
-#include <sas_robot_driver_franka/Move.h>
-#include <sas_robot_driver_franka/GripperState.h>
-#ifdef IN_TESTING
-#include <Move.h> // dummy include
-#include <Grasp.h>  // dummy include
-#include <GripperState.h> // dummy include
-#endif
 
+#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 {
@@ -64,7 +69,8 @@ namespace qros {
 struct EffectorDriverFrankaHandConfiguration
 {
     std::string robot_ip;
-    int thread_sampeling_time_ns = 1e8;  // 10Hz
+    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;
@@ -75,7 +81,7 @@ class EffectorDriverFrankaHand{
 private:
     std::string driver_node_prefix_;
     EffectorDriverFrankaHandConfiguration configuration_;
-    ros::NodeHandle& node_handel_;
+    std::shared_ptr<Node> node_;
 
     std::shared_ptr<franka::Gripper> gripper_sptr_;
 
@@ -88,17 +94,30 @@ private:
     void _gripper_status_loop();
     std::thread status_loop_thread_;
     std::atomic_bool status_loop_running_{false};
-    ros::Publisher gripper_status_publisher_;
+
+    Publisher<msg::GripperState>::SharedPtr gripper_status_publisher_;
 
     std::mutex gripper_in_use_;
-    ros::ServiceServer grasp_server_;
+    Service<srv::Grasp>::SharedPtr grasp_srv_;
-    ros::ServiceServer move_server_;
+    Service<srv::Move>::SharedPtr move_srv_;
+    Service<std_srvs::srv::Trigger>::SharedPtr homing_srv_;
 
 public:
 
-    bool _grasp_srv_callback(sas_robot_driver_franka::Grasp::Request& req, sas_robot_driver_franka::Grasp::Response& res);
+    bool _grasp_srv_callback(
+        const std::shared_ptr<srv::Grasp::Request> &req,
+        std::shared_ptr<srv::Grasp::Response> res
+        );
 
-    bool _move_srv_callback(sas_robot_driver_franka::Move::Request& req, sas_robot_driver_franka::Move::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;
@@ -107,7 +126,7 @@ public:
     EffectorDriverFrankaHand(
         const std::string &driver_node_prefix,
         const EffectorDriverFrankaHandConfiguration& configuration,
-        ros::NodeHandle& node_handel,
+        std::shared_ptr<Node> node,
         std::atomic_bool* break_loops);
 
     void start_control_loop();

include/sas_robot_driver_franka/interfaces/robot_interface_franka.hpp

@@ -40,12 +40,12 @@
 #include <franka/robot.h>
 #include <franka/gripper.h>
 #include <franka/exception.h>
-#include "generator/motion_generator.h"
+#include <sas_robot_driver_franka/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;

include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp

@@ -1,6 +1,6 @@
 #pragma once
 /*
-# Copyright (c) 2023 Juan Jose Quiroz Omana
+# Copyright (c) 2024 Quenitin Lin
 #
 #    This file is part of sas_robot_driver_franka.
 #
@@ -28,63 +28,66 @@
 #
 # ################################################################
 */
-#include <ros/ros.h>
+
-#include <ros/node_handle.h>
+#include <rclcpp/rclcpp.hpp>
-#include <sas_common/sas_common.h>
+#include <rclcpp/node.hpp>
-#include <sas_conversions/sas_conversions.h>
+// #include <sas_common/sas_common.hpp>
-#include <geometry_msgs/WrenchStamped.h>
+#include <sas_conversions/sas_conversions.hpp>
-#include <geometry_msgs/Transform.h>
+#include <geometry_msgs/msg/wrench_stamped.hpp>
-#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/msg/transform.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tf2_ros/transform_listener.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_ros/buffer.h>
-#include <geometry_msgs/Pose.h>
+#include <tf2/time.h>
-#include <std_msgs/Header.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 RobotDynamicInterface {
+class RobotDynamicsClient {
 private:
-    unsigned int seq_ = 0;
+    std::shared_ptr<Node> node_;
 
-    std::string node_prefix_;
+    std::string topic_prefix_;
     std::string child_frame_id_;
     std::string parent_frame_id_;
 
-    ros::Subscriber subscriber_cartesian_stiffness_;
+    Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr subscriber_cartesian_stiffness_;
-    tf2_ros::Buffer tf_buffer_;
+    std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-    tf2_ros::TransformListener tf_listener_;
+    std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
 
-    static geometry_msgs::Transform _dq_to_geometry_msgs_transform(const DQ& pose) ;
+    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::WrenchStampedConstPtr &msg);
+    void _callback_cartesian_stiffness(const geometry_msgs::msg::WrenchStamped &msg);
 
-    static DQ _geometry_msgs_transform_to_dq(const geometry_msgs::Transform& transform);
+    static DQ _geometry_msgs_transform_to_dq(const geometry_msgs::msg::Transform& transform);
 
 public:
-    RobotDynamicInterface() = delete;
+    RobotDynamicsClient() = delete;
-    RobotDynamicInterface(const RobotDynamicInterface&) = delete;
+    RobotDynamicsClient(const RobotDynamicsClient&) = delete;
-#ifdef BUILD_PYBIND
+// #ifdef BUILD_PYBIND
-    explicit RobotDynamicInterface(const std::string& node_prefix):RobotDynamicInterface(sas::common::get_static_node_handle(),node_prefix){}
+//     explicit RobotDynamicsClient(const std::string& node_prefix):RobotDynamicsClient(sas::common::get_static_node_handle(),node_prefix){}
-#endif
+// #endif
-    explicit RobotDynamicInterface(ros::NodeHandle& nodehandle, const std::string& node_prefix=ros::this_node::getName());
+    explicit RobotDynamicsClient(const std::shared_ptr<Node> &node,  const std::string& topic_prefix="GET_FROM_NODE");
-    RobotDynamicInterface(ros::NodeHandle& publisher_nodehandle, ros::NodeHandle& subscriber_nodehandle, const std::string& node_prefix=ros::this_node::getName());
 
     VectorXd get_stiffness_force();
     VectorXd get_stiffness_torque();
     DQ get_stiffness_frame_pose();
 
     bool is_enabled() const;
-    std::string get_topic_prefix() const {return node_prefix_;}
+    std::string get_topic_prefix() const {return topic_prefix_;}
 
 };
 

include/sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp

@@ -1,6 +1,6 @@
 #pragma once
 /*
-# Copyright (c) 2023 Juan Jose Quiroz Omana
+# Copyright (c) 2024 Quenitin Lin
 #
 #    This file is part of sas_robot_driver_franka.
 #
@@ -28,60 +28,60 @@
 #
 # ################################################################
 */
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
-#include <ros/node_handle.h>
+#include <rclcpp/node.hpp>
-#include <sas_common/sas_common.h>
+// #include <sas_common/sas_common.hpp>
-#include <sas_conversions/sas_conversions.h>
+#include <sas_conversions/sas_conversions.hpp>
-#include <geometry_msgs/WrenchStamped.h>
+#include <geometry_msgs/msg/wrench_stamped.hpp>
-#include <geometry_msgs/Transform.h>
+#include <geometry_msgs/msg/transform.hpp>
-#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros//static_transform_broadcaster.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/Pose.h>
+#include <std_msgs/msg/header.hpp>
-#include <std_msgs/Header.h>
 #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 RobotDynamicProvider {
+class RobotDynamicsServer {
 private:
     unsigned int seq_ = 0;
+    std::shared_ptr<Node> node_;
 
-    std::string node_prefix_;
+    std::string topic_prefix_;
     std::string child_frame_id_;
     std::string parent_frame_id_;
 
-    ros::Publisher publisher_cartesian_stiffness_;
+    rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr publisher_cartesian_stiffness_;
-    tf2_ros::TransformBroadcaster tf_broadcaster_;
+    std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
-    tf2_ros::StaticTransformBroadcaster static_base_tf_broadcaster_;
+    std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_base_tf_broadcaster_;
 
-    DQ world_to_base_tf_;
+    DQ world_to_base_tf_ = DQ(0);
 
-    static geometry_msgs::Transform _dq_to_geometry_msgs_transform(const DQ& pose);
+    static geometry_msgs::msg::Transform _dq_to_geometry_msgs_transform(const DQ& pose);
 
     void _publish_base_static_tf();
 
 public:
-    RobotDynamicProvider() = delete;
+    RobotDynamicsServer() = delete;
-    RobotDynamicProvider(const RobotDynamicProvider&) = delete;
+    RobotDynamicsServer(const RobotDynamicsServer&) = delete;
-#ifdef BUILD_PYBIND
+// #ifdef BUILD_PYBIND
-    explicit RobotDynamicProvider(const std::string& node_prefix):RobotDynamicProvider(sas::common::get_static_node_handle(),node_prefix){}
+    // explicit RobotDynamicsServer(const std::string& node_prefix):RobotDynamicsServer(sas::common::get_static_node_handle(),node_prefix){}
-#endif
+// #endif
-    explicit RobotDynamicProvider(ros::NodeHandle& nodehandle, const std::string& node_prefix=ros::this_node::getName());
+    explicit RobotDynamicsServer(const std::shared_ptr<Node> &node,  const std::string& topic_prefix="GET_FROM_NODE");
-    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);
 
     void set_world_to_base_tf(const DQ& world_to_base_tf);
 
     bool is_enabled() const;
-    std::string get_topic_prefix() const {return node_prefix_;}
+    std::string get_topic_prefix() const {return topic_prefix_;}
 
 };
 

include/sas_robot_driver_franka/sas_robot_driver_franka.hpp

@@ -40,10 +40,10 @@
 
 #include <dqrobotics/DQ.h>
 
-#include <sas_robot_driver/sas_robot_driver.h>
+#include <sas_core/sas_robot_driver.hpp>
-#include "robot_interface_franka.h"
+#include <sas_robot_driver_franka/interfaces/robot_interface_franka.hpp>
-#include <ros/common.h>
+#include <rclcpp/rclcpp.hpp>
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
 
 using namespace DQ_robotics;
 using namespace Eigen;
@@ -64,14 +64,16 @@ struct RobotDriverFrankaConfiguration
 };
 
 
-class RobotDriverFranka: public RobotDriver
+class RobotDriverFranka: public sas::RobotDriver
 {
 private:
+    std::shared_ptr<Node> node_;
+
     RobotDriverFrankaConfiguration configuration_;
 
     std::shared_ptr<RobotInterfaceFranka> robot_driver_interface_sptr_ = nullptr;
 
-    qros::RobotDynamicProvider* robot_dynamic_provider_;
+    std::shared_ptr<qros::RobotDynamicsServer> robot_dynamic_provider_sptr_;
 
     //Joint positions
     VectorXd joint_positions_;
@@ -98,7 +100,8 @@ public:
     ~RobotDriverFranka();
 
     RobotDriverFranka(
-        qros::RobotDynamicProvider* robot_dynamic_provider,
+        const std::shared_ptr<Node> &node,
+        const std::shared_ptr<qros::RobotDynamicsServer> &robot_dynamic_provider,
         const RobotDriverFrankaConfiguration& configuration,
         std::atomic_bool* break_loops
         );
@@ -110,7 +113,7 @@ public:
     VectorXd get_joint_velocities() override;
     void set_target_joint_velocities(const VectorXd& desired_joint_velocities) override;
 
-    VectorXd get_joint_forces() override;
+    VectorXd get_joint_torques() override;
 
     void connect() override;
     void disconnect() override;

launch/sas_robot_driver_franka_example.py

@@ -0,0 +1,45 @@
+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_example.py

@@ -0,0 +1,24 @@
+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

@@ -0,0 +1,27 @@
+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"
+        ),
+
+    ])

msg/GripperState.msg

@@ -1,5 +0,0 @@
-float32 width
-float32 max_width
-bool is_grasped
-uint16 temperature
-uint64 duration_ms

package.xml

@@ -1,94 +1,32 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<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>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
+  <depend>rclcpp</depend>
-  <!-- Commonly used license strings: -->
+  <depend>rclpy</depend>
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <depend>tf2_ros</depend>
-  <license>TODO</license>
+  <depend>tf2</depend>
+  <depend>std_msgs</depend>
+  <depend>sas_core</depend>
+  <depend>sas_robot_driver</depend>
+  <depend>sas_common</depend>
+  <depend>sas_robot_driver_franka_interface</depend>
 
 
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <test_depend>ament_lint_auto</test_depend>
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <test_depend>ament_lint_common</test_depend>
-  <!-- Example: -->
+  <test_depend>ament_copyright</test_depend>
-  <!-- <url type="website">http://wiki.ros.org/sas_driver_franka</url> -->
+  <test_depend>ament_flake8</test_depend>
+  <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>tf2_ros</build_depend>
-  <build_depend>tf2</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_depend>pybind11_catkin</build_depend>
-  <build_depend>message_generation</build_depend>
-
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>tf2_ros</build_export_depend>
-  <build_export_depend>tf2</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>
-  <build_export_depend>pybind11_catkin</build_export_depend>
-
-
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>tf2</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>
-  <exec_depend>message_runtime</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
+    <build_type>ament_cmake</build_type>
-
   </export>
 </package>

qt/configuration_window/mainwindow.h

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

sas_robot_driver_franka/__init__.py

@@ -0,0 +1,229 @@
+"""
+"""
+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

@@ -1,48 +1,58 @@
-import rospy
+import threading
 
+import rclpy
 from sas_robot_driver_franka import FrankaGripperInterface
+import time
 
 
-def main_loop():
+def main_loop(node):
-    rate = rospy.Rate(10)  # 10 Hz
     iteration_ = 0
-
+    node_name = node.get_name()
-    hand1 = FrankaGripperInterface("/franka_hand_1")
+    hand1 = FrankaGripperInterface(node, "/franka_hand_1")
+    logger = rclpy.node.get_logger(node_name)
 
     while not hand1.is_enabled():
-        rospy.loginfo("Waiting for gripper to be enabled...")
+        logger.info("Waiting for gripper to be enabled...")
-        rate.sleep()
+        time.sleep(0.1)
-    rospy.loginfo("Gripper enabled!")
+    rclpy.node.get_logger(node_name).info("Gripper enabled!")
 
-    rate = rospy.Rate(2)  # 0.5 Hz
+    def spin_all(node_):
+        while rclpy.ok():
+            rclpy.spin_once(node_, timeout_sec=0.1)
+            time.sleep(0.1)
             
-    while not rospy.is_shutdown():
+    thread = threading.Thread(target=spin_all, args=(node, ), daemon=True)
-        rospy.loginfo("Main loop running...")
+    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()
-        rospy.loginfo(f"Temperature: {temperature}")
+        logger.info(f"Temperature: {temperature}")
         max_width = hand1.get_max_width()
-        rospy.loginfo(f"Max width: {max_width}")
+        logger.info(f"Max width: {max_width}")
         width = hand1.get_width()
-        rospy.loginfo(f"Width: {width}")
+        logger.info(f"Width: {width}")
         is_grasped = hand1.is_grasped()
-        rospy.loginfo(f"Is grasped: {is_grasped}")
+        logger.info(f"Is grasped: {is_grasped}")
         is_moving = hand1.is_moving()
-        rospy.loginfo(f"Is moving: {is_moving}")
+        logger.info(f"Is moving: {is_moving}")
         is_grasping = hand1.is_grasping()
-        rospy.loginfo(f"Is grasping: {is_grasping}")
+        logger.info(f"Is grasping: {is_grasping}")
-        rospy.logwarn("calling move(0.01)")
+        logger.warn("calling move(0.01)")
         if not hand1.is_busy():
             hand1.grasp(0.01)
         else:
-            rospy.logwarn("Gripper is busy. Waiting...")
+            logger.warn("Gripper is busy. Waiting...")
         result_ready = hand1.is_done()
         if not result_ready:
-            rospy.loginfo("Waiting for gripper to finish moving...")
+            logger.info("Waiting for gripper to finish moving...")
         else:
             result = hand1.get_result()
-            rospy.loginfo(f"Result: {result}")
+            logger.info(f"Result: {result}")
 
 
         # Check if there is a response in the queue
@@ -50,7 +60,12 @@ def main_loop():
         iteration_ += 1
         rate.sleep()
 
+    rclpy.shutdown()
+    thread.join()
+
 
 if __name__ == "__main__":
-    rospy.init_node("example_gripper_control_node")
+    rclpy.init()
-    main_loop()
+    node_name_ = "example_gripper_control_node"
+    NODE = rclpy.create_node(node_name_)
+    main_loop(NODE)

scripts/publish_dumy_robot_dynmaics.py

@@ -1,29 +1,46 @@
-import rospy
+import time
-from sas_robot_driver_franka import RobotDynamicsProvider
+
+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__":
-    rospy.init_node("dummy_robot_dynamics_provider")
 
-    dynam_provider = RobotDynamicsProvider("/franka1")
+
+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
-    rospy.loginfo("Publishing dummy robot dynamics")
+    node.get_logger().info("Dummy robot dynamics server started")
     r = dql.DQ([0, 0, 0, 1])
-    rate = rospy.Rate(100)
+    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()
 
-    while not rospy.is_shutdown():
-        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)
-        rate.sleep()
-        t_ += 0.01

scripts/subscribe_dummy_dynamic.py

@@ -1,30 +1,53 @@
-import rospy
+import time
-from sas_robot_driver_franka import RobotDynamicsInterface
+
+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 = DQ_VrepInterface()
-vrep.connect("192.168.10.103", 19997, 100, 10)
+# vrep.connect("192.168.10.103", 19997, 100, 10)
+vrep = None
 
 if __name__ == "__main__":
-    rospy.init_node("dummy_robot_dynamics_subscriber")
+    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)
 
-    dynam_provider = RobotDynamicsInterface("/franka1")
+        node.get_logger().info("Dummy robot dynamics client started")
-    while not dynam_provider.is_enabled():
+        while rclpy.ok():
-        rospy.loginfo("Waiting for robot dynamics provider to be enabled")
+            force = dynam_provider.get_stiffness_force()
-        rospy.sleep(1)
+            torque = dynam_provider.get_stiffness_torque()
-
+            ee_pose = dynam_provider.get_stiffness_frame_pose()
-    rospy.loginfo("Subscribing to dummy robot dynamics")
+            if vrep is not None:
-    rate = rospy.Rate(50)
+                vrep.set_object_pose("xd1", ee_pose)
-
+            node.get_logger().info(f"EE Pose: {ee_pose}")
-    while not rospy.is_shutdown():
+            node.get_logger().info(f"Force: {force}")
-        force = dynam_provider.get_stiffness_force()
+            node.get_logger().info(f"Torque: {torque}")
-        torque = dynam_provider.get_stiffness_torque()
+            rclcpp_spin_some(sas_node)
-        ee_pose = dynam_provider.get_stiffness_frame_pose()
+            executor.spin_once(timeout_sec=0.1)
-        vrep.set_object_pose("xd1", ee_pose)
+            time.sleep(0.5)
-        rospy.loginfo("EE Pose: %s", ee_pose)
+    except KeyboardInterrupt:
-        rospy.loginfo("Force: %s", force)
+        pass
-        rospy.loginfo("Torque: %s", torque)
+    finally:
-        rate.sleep()
+        rclcpp_shutdown()
+        node.destroy_node()
+        if vrep is not None:
+            vrep.disconnect()
+        rclpy.shutdown()

setup.py

@@ -1,12 +0,0 @@
-# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-# fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['sas_robot_driver_franka'],
-    package_dir={'': 'src'},
-)
-
-setup(**setup_args)

src/coppelia/sas_robot_driver_coppelia.cpp

@@ -1,252 +1,246 @@
-#include "sas_robot_driver_coppelia.h"
+#include <sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp>
 
 
-namespace sas
+namespace qros
 {
 
-
+RobotDriverCoppelia::~RobotDriverCoppelia() {
-RobotDriverCoppelia::RobotDriverCoppelia(const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
+    deinitialize();
-RobotDriver(break_loops),
+    disconnect();
-    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_);
 }
 
-VectorXd RobotDriverCoppelia::get_joint_positions()
+RobotDriverCoppelia::RobotDriverCoppelia(const std::shared_ptr<Node> &node_sptr, const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
+        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>())
 {
-    return current_joint_positions_;
+    // should initialize robot driver interface to real robot
-}
+    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()};
-void RobotDriverCoppelia::set_target_joint_positions(const VectorXd &desired_joint_positions_rad)
+    if(configuration_.using_real_robot)
-{
-    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())
     {
-        joint_velocity_control_mode_thread_.join();
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Using real robot, Instantiating robot interface to real driver at ["+configuration_.robot_topic_prefix+"].");
-    }
+        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{
-        _start_joint_velocity_control_mirror_thread();
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Using simulation robot, simulation mode is set to "+ configuration_.robot_mode);
-    }
+        robot_provider_ = std::make_shared<sas::RobotDriverServer>(node_sptr_, configuration_.robot_topic_prefix);
-    std::cout<<"RobotDriverCoppelia::Velocity loop running..."<<std::endl;
+        std::string _mode_upper = configuration_.robot_mode;
-}
+        std::transform(_mode_upper.begin(), _mode_upper.end(), _mode_upper.begin(), ::toupper);
-
+        if(_mode_upper == "POSITIONCONTROL"){
-void RobotDriverCoppelia::deinitialize()
+            robot_mode_ = ControlMode::Position;
-{
+        }else if(_mode_upper == "VELOCITYCONTROL"){
-    vi_->set_joint_target_velocities(jointnames_, VectorXd::Zero(dim_configuration_space_));
+            robot_mode_ = ControlMode::Velocity;
-    vi_->stop_simulation();
+        }else{
-    finish_motion();
+            throw std::invalid_argument("[" + std::string(node_sptr_->get_name()) + "]::Robot mode must be either 'position' or 'velocity'");
-    std::cout<<"RobotDriverCoppelia::Deinitialized."<<std::endl;
-}
-
-
-
-
-void RobotDriverCoppelia::_update_robot_state(const VectorXd &q, const VectorXd &q_dot, const VectorXd &forces)
-{
-    current_joint_positions_  = q;
-    current_joint_velocities_ = q_dot;
-    current_joint_forces_     =  forces;
-}
-
-void RobotDriverCoppelia::finish_motion()
-{
-    for (int i=0;i<1000;i++)
-    {
-        set_target_joint_positions(current_joint_positions_);
-        set_target_joint_velocities(VectorXd::Zero(dim_configuration_space_));
-        std::this_thread::sleep_for(std::chrono::milliseconds(1));
-    }
-    finish_motion_ = true;
-}
-
-void RobotDriverCoppelia::_start_joint_velocity_control_mode()
-{
-    try{
-        finish_motion_ = false;
-        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);
-
-        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;
-            }
         }
     }
+
+}
+
+void RobotDriverCoppelia::_update_vrep_position(const VectorXd &joint_positions, const bool& force_update) const{
+    if(configuration_.vrep_dynamically_enabled){
+        if(force_update){
+            vi_->set_joint_positions(configuration_.vrep_joint_names, joint_positions);
+        }
+        vi_->set_joint_target_positions(configuration_.vrep_joint_names, joint_positions);
+    }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");
+    }
+    vi_->set_joint_target_velocities(configuration_.vrep_joint_names, joint_velocity);
+}
+
+void RobotDriverCoppelia::_start_control_loop(){
+    clock_.init();
+    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Starting control loop...");
+    while(!_should_shutdown()){
+        clock_.update_and_sleep();
+        rclcpp::spin_some(node_sptr_);
+        if(!rclcpp::ok()){break_loops_->store(true);}
+        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_);
+
+        }
+    }
+
+
+}
+
+int RobotDriverCoppelia::start_control_loop(){
+    try{
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Waiting to connect with coppelia...");
+        connect();
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Connected to coppelia.");
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::Initializing...");
+        initialize();
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::initialized.");
+
+        _start_control_loop();
+    }
     catch(const std::exception& e)
     {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " << e.what()<<std::endl;
+        RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::Error or exception caught::" << e.what());
     }
     catch(...)
     {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " <<std::endl;
+        RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::Unexpected error or exception caught");
     }
+    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(){
-    finish_motion_ = false;
+    auto ret = vi_->connect(configuration_.vrep_ip, configuration_.vrep_port, 100, 10);
-    if (joint_velocity_control_mode_thread_.joinable())
+    if(!ret){
-    {
+        throw std::runtime_error("[RobotDriverCoppelia]::connect::Could not connect to Vrep");
-        joint_velocity_control_mode_thread_.join();
     }
-    if (joint_velocity_control_mirror_mode_thread_.joinable())
+    RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::connect::Connected to Vrep");
-    {
+}
-        joint_velocity_control_mirror_mode_thread_.join();
+void RobotDriverCoppelia::disconnect(){
-    }
+    vi_->disconnect_all();
-    joint_velocity_control_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mode, this);
 }
 
-void RobotDriverCoppelia::_start_joint_velocity_control_mirror_thread()
+void RobotDriverCoppelia::initialize(){
-{
+    if(configuration_.using_real_robot)
-    finish_motion_ = false;
-    if (joint_velocity_control_mode_thread_.joinable())
     {
-        joint_velocity_control_mode_thread_.join();
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Waiting for real robot interface to initialize...");
-    }
+        rclcpp::spin_some(node_sptr_);
-    if (joint_velocity_control_mirror_mode_thread_.joinable())
+        int count = 0;
-    {
+        while (!real_robot_interface_->is_enabled(sas::RobotDriver::Functionality::PositionControl)) {
-        joint_velocity_control_mirror_mode_thread_.join();
+            rclcpp::spin_some(node_sptr_);
-    }
+            // std::cout<<"Waiting for real robot interface to initialize..."<<std::endl;
-    joint_velocity_control_mirror_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode, this);
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-}
+            rclcpp::spin_some(node_sptr_);
-
+            count++;
-void RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode()
+            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.");
-    try{
+            }
-        finish_motion_ = false;
+            if(!rclcpp::ok()) {
-        std::cout<<"RobotDriverCoppelia::Waiting for real robot topics..."<<std::endl;
+                RCLCPP_WARN_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::ROS shutdown received. Exiting...");
-        VectorXd q;
+                throw std::runtime_error("[" + std::string(node_sptr_->get_name()) +"]::[RobotDriverCoppelia]::initialize::ROS shutdown received, not OK.");
-        while (ros::ok()) {
-            if (franka1_ros_->is_enabled())
-            {
-                    q = franka1_ros_->get_joint_positions();
-                    break;
             }
-            ros::spinOnce();
         }
-        std::cout<<"RobotDriverCoppelia::Done!"<<std::endl;
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Real robot interface initialized.");
-
+        joint_limits_ = real_robot_interface_->get_joint_limits();
-        VectorXd q_vrep = vi_->get_joint_positions(jointnames_);
+        _update_vrep_position(real_robot_interface_->get_joint_positions(), true);
-        VectorXd q_dot_vrep =  vi_->get_joint_velocities(jointnames_);
+    }else{
-        VectorXd forces_vrep = vi_->get_joint_torques(jointnames_);
+        RCLCPP_INFO_STREAM(node_sptr_->get_logger(), "::[RobotDriverCoppelia]::initialize::Simulation mode.");
-        _update_robot_state(q_vrep, q_dot_vrep, forces_vrep);
+        // initialization information for robot driver provider
-
+        /**
-        desired_joint_positions_ = q_vrep;
+        * TODO: check for making sure real robot is not actually connected
-
+        */
-
+        auto current_joint_positions = vi_->get_joint_positions(configuration_.vrep_joint_names);
-        while(ros::ok())
+        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)
         {
-            q = franka1_ros_->get_joint_positions();
+            simulated_joint_positions_ = current_joint_positions;
-            if (q.size() == dim_configuration_space_)
+            simulated_joint_velocities_ = current_joint_velocity;
-            {
+            start_simulation_thread();
-                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));
-                }
-                else if (robot_mode_  == std::string("PositionControl"))
-                {
-                        vi_->set_joint_target_positions(jointnames_, q);
-                }
-                if (finish_motion_) {
-                        finish_motion_ = false;
-                        return;
-                }
-            }
         }
     }
-    catch(const std::exception& e)
+}
-    {
+void RobotDriverCoppelia::deinitialize(){
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " << e.what()<<std::endl;
+    // nothing to do
-    }
-    catch(...)
-    {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " <<std::endl;
-    }
-
-
 }
 
+void RobotDriverCoppelia::start_simulation_thread(){ // thread entry point
+    if(simulation_thread_started_){
+        throw std::runtime_error("[RobotDriverCoppelia]::start_simulation_thread::Simulation thread already started");
+    }
+    if(velocity_control_simulation_thread_.joinable()){
+        velocity_control_simulation_thread_.join();
+    }
+
+    velocity_control_simulation_thread_ = std::thread(&RobotDriverCoppelia::_velocity_control_simulation_thread_main, this);
+}
+
+void RobotDriverCoppelia::_velocity_control_simulation_thread_main(){
+    /**
+     * 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.");
+        sas::Clock clock = sas::Clock(VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_SEC);
+        double tau = VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_SEC;
+        auto current_joint_positions = simulated_joint_positions_;
+        clock.init();
+        while (!(*break_loops_) && rclcpp::ok()) {
+
+            current_joint_positions += tau * simulated_joint_velocities_; // no dynamic model
+            // cap joint limit
+            auto q_min = std::get<0>(joint_limits_);
+            auto q_max = std::get<1>(joint_limits_);
+            for (int i = 0; i < current_joint_positions.size(); i++) {
+                if (current_joint_positions(i) < q_min(i)) {
+                    current_joint_positions(i) = q_min(i);
+                }
+                if (current_joint_positions(i) > q_max(i)) {
+                    current_joint_positions(i) = q_max(i);
+                }
+            }
+            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);
+
+}
 
 
 

src/coppelia/sas_robot_driver_coppelia.h

@@ -1,134 +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_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/generator/custom_motion_generation.cpp

@@ -28,7 +28,7 @@
 #
 # ################################################################
 */
-#include "generator/custom_motion_generation.h"
+#include <sas_robot_driver_franka/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 "generator/motion_generator.h"
+#include <sas_robot_driver_franka/generator/motion_generator.h>
 #include <algorithm>
 #include <array>
 #include <cmath>

src/generator/quadratic_program_motion_generator.cpp

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

src/hand/qros_effector_driver_franka_hand.cpp

@@ -27,10 +27,13 @@
 #
 # ################################################################
 */
-#include "hand/qros_effector_driver_franka_hand.h"
+#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
 {
@@ -48,19 +51,21 @@ namespace qros
     EffectorDriverFrankaHand::EffectorDriverFrankaHand(
         const std::string& driver_node_prefix,
         const EffectorDriverFrankaHandConfiguration& configuration,
-        ros::NodeHandle& node_handel,
+        std::shared_ptr<Node> node,
         std::atomic_bool* break_loops):
         driver_node_prefix_(driver_node_prefix),
         configuration_(configuration),
-        node_handel_(node_handel),
+        node_(node),
         break_loops_(break_loops)
     {
         gripper_sptr_ = nullptr;
-        grasp_server_ = node_handel_.advertiseService(driver_node_prefix_ + "/grasp",
+        grasp_srv_ = node->create_service<srv::Grasp>(driver_node_prefix_ + "/grasp",
-                                                      &EffectorDriverFrankaHand::_grasp_srv_callback, this);
+            std::bind(&EffectorDriverFrankaHand::_grasp_srv_callback, this, _1, _2));
-        move_server_ = node_handel_.advertiseService(driver_node_prefix_ + "/move",
+        move_srv_ = node->create_service<srv::Move>(driver_node_prefix_ + "/move",
-                                                     &EffectorDriverFrankaHand::_move_srv_callback, this);
+            std::bind(&EffectorDriverFrankaHand::_move_srv_callback, this, _1, _2));
-        gripper_status_publisher_ = node_handel_.advertise<sas_robot_driver_franka::GripperState>(
+        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);
     }
 
@@ -75,56 +80,48 @@ namespace qros
     }
 
 
-    void EffectorDriverFrankaHand::start_control_loop()
+    void EffectorDriverFrankaHand::start_control_loop() {
-    {
+        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_s);
-        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_ns);
         clock.init();
-        ROS_INFO_STREAM(
+        RCLCPP_INFO_STREAM(node_->get_logger(),"[EffectorDriverFrankaHand]::start_control_loop::Starting control loop.");
-            "["+ ros::this_node::getName()+"]::[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(
+            if (!_is_connected()) throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::start_control_loop::Robot is not connected.");
-                "[" + ros::this_node::getName() +
-                "]::[EffectorDriverFrankaHand]::start_control_loop::Robot is not connected.");
 
             if (!status_loop_running_)
             {
-                ROS_WARN_STREAM(
+                RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_is_connected::Status loop is not running.");
-                    "["+ ros::this_node::getName()+
-                    "]::[EffectorDriverFrankaHand]::_is_connected::Status loop is not running.");
                 break_loops_->store(true);
                 break;
             }
 
             clock.update_and_sleep();
-            ros::spinOnce();
+            spin_some(node_);
         }
-        ROS_INFO_STREAM(
+        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::start_control_loop::Exiting control loop.");
-            "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::start_control_loop::Exiting control loop.");
     }
 
 
     void EffectorDriverFrankaHand::connect()
     {
 #ifdef IN_TESTING
-        ROS_WARN_STREAM(
+        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::connect::In testing mode. to DUMMY");
-            "["+ ros::this_node::getName()+"]::[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(
-            "[" + ros::this_node::getName() +
+            "[" + std::string(node_->get_name())+
             "]::[EffectorDriverFrankaHand]::connect::Could not connect to the robot.");
     }
 
     void EffectorDriverFrankaHand::disconnect() noexcept
     {
 #ifdef IN_TESTING
-        ROS_WARN_STREAM(
+        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::disconnect::In testing mode. from DUMMY");
-            "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::disconnect::In testing mode. from DUMMY");
         return;
 #endif
-        ROS_WARN_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::disconnecting...");
+        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::disconnecting...");
         gripper_sptr_->~Gripper();
         gripper_sptr_ = nullptr;
     }
@@ -135,35 +132,42 @@ namespace qros
     void EffectorDriverFrankaHand::gripper_homing()
     {
 #ifdef IN_TESTING
-        ROS_WARN_STREAM(
+        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::gripper_homing::In testing mode.");
-            "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::gripper_homing::In testing mode.");
         return;
 #endif
         if (!_is_connected()) throw std::runtime_error(
-            "[" + ros::this_node::getName() + "]::[EffectorDriverFrankaHand]::gripper_homing::Robot is not connected.");
+            "[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::gripper_homing::Robot is not connected.");
         auto ret = gripper_sptr_->homing();
         if (!ret)
         {
-            throw std::runtime_error(
+            throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::gripper_homing::Failed to home the gripper.");
-                "[" + ros::this_node::getName() +
-                "]::[EffectorDriverFrankaHand]::gripper_homing::Failed to home the gripper.");
         }
-        ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::gripper_homing::Gripper homed.");
+        RCLCPP_INFO_STREAM(node_->get_logger(),"[EffectorDriverFrankaHand]::gripper_homing::Gripper homed.");
     }
 
     void EffectorDriverFrankaHand::initialize()
     {
         if (!_is_connected()) throw std::runtime_error(
-            "[" + ros::this_node::getName() + "]::[EffectorDriverFrankaHand]::initialize::Robot is not connected.");
+            "[" + std::string(node_->get_name())+ "]::[EffectorDriverFrankaHand]::initialize::Robot is not connected.");
-        gripper_homing();
+        if (configuration_.initialize_with_homing) {
+            gripper_homing();
+        }
         // start gripper status loop
         status_loop_thread_ = std::thread(&EffectorDriverFrankaHand::_gripper_status_loop, this);
+        // check status loop with timeout
+        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
-        ROS_WARN_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::deinitialize::In testing mode.");
+        RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::deinitialize::In testing mode.");
         return;
 #endif
         if (_is_connected())
@@ -177,130 +181,144 @@ namespace qros
     }
 
 
-    bool EffectorDriverFrankaHand::_grasp_srv_callback(sas_robot_driver_franka::Grasp::Request& req,
+    bool EffectorDriverFrankaHand::_grasp_srv_callback(const std::shared_ptr<srv::Grasp::Request> &req, std::shared_ptr<srv::Grasp::Response> res)
-                                                       sas_robot_driver_franka::Grasp::Response& res)
     {
-        ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Grasping...");
+        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::Grasping...");
-        auto force = req.force;
+        auto force = req->force;
-        auto speed = req.speed;
+        auto speed = req->speed;
-        auto epsilon_inner = req.epsilon_inner;
+        auto epsilon_inner = req->epsilon_inner;
-        auto epsilon_outer = req.epsilon_outer;
+        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;
-        ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Width: " + std::to_string(req.width));
+        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::Width: " + std::to_string(req->width));
-        ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::force: " + std::to_string(force) + " speed: " + std::to_string(speed));
+        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;
-        gripper_in_use_.lock();
 #ifdef IN_TESTING
         ret = true;
         std::this_thread::sleep_for(std::chrono::milliseconds(2000));
 #else
         try
         {
-            ret = gripper_sptr_->grasp(req.width, speed, force, epsilon_inner, epsilon_outer);
+            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)
         {
-            ROS_ERROR_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::CommandException::" + e.what());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::CommandException::" + std::string(e.what()));
             function_ret = false;
         }catch(franka::NetworkException& e)
         {
-            ROS_ERROR_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::NetworkException::" + e.what());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_grasp_srv_callback::NetworkException::" + std::string(e.what()));
             function_ret = false;
         }
 #endif
-        gripper_in_use_.unlock();
+        res->set__success(ret);
-        res.success = ret;
         return function_ret;
     }
 
 
-    bool EffectorDriverFrankaHand::_move_srv_callback(sas_robot_driver_franka::Move::Request& req,
+    bool EffectorDriverFrankaHand::_move_srv_callback(const std::shared_ptr<srv::Move::Request> &req, std::shared_ptr<srv::Move::Response> res)
-                                                      sas_robot_driver_franka::Move::Response& res)
     {
-        ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Moving...");
+        RCLCPP_DEBUG_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::Moving...");
-        auto speed = req.speed;
+        auto speed = req->speed;
         if (speed <= 0.0) speed = configuration_.default_speed;
-        ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Speed: " + std::to_string(speed) + " Width: " + std::to_string(req.width));
+        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;
-        gripper_in_use_.lock();
 #ifdef IN_TESTING
         ret = true;
         std::this_thread::sleep_for(std::chrono::milliseconds(2000));
 #else
         try
         {
-            ret = gripper_sptr_->move(req.width, speed);
+            std::lock_guard<std::mutex> lock(gripper_in_use_);
+            ret = gripper_sptr_->move(req->width, speed);
         }catch(franka::CommandException& e)
         {
-            ROS_ERROR_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::CommandException::" + e.what());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::CommandException::" + std::string(e.what()));
             function_ret = false;
         }catch(franka::NetworkException& e)
         {
-            ROS_ERROR_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::NetworkException::" + e.what());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_move_srv_callback::NetworkException::" + std::string(e.what()));
             function_ret = false;
         }
 #endif
-        gripper_in_use_.unlock();
+        res->set__success(ret);
-        res.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()
     {
-        status_loop_running_ = true;
+        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_s);
-        sas::Clock clock = sas::Clock(configuration_.thread_sampeling_time_ns);
+        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Starting status loop.");
-        ROS_INFO_STREAM(
-            "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Starting status loop.")
-        ;
         clock.init();
         try
         {
+            status_loop_running_ = true;
             while (status_loop_running_)
             {
-                bool should_unlock = false;
+                if (!_is_connected()) throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Robot is not connected.");
-                if (!_is_connected()) throw std::runtime_error(
-                    "[" + ros::this_node::getName() +
-                    "]::[EffectorDriverFrankaHand]::_gripper_status_loop::Robot is not connected.");
                 try
                 {
 #ifdef IN_TESTING
-                    ROS_WARN_STREAM(
+                    RCLCPP_WARN_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
-                        "["+ ros::this_node::getName()+
+                    throw std::runtime_error("[" + std::string(node_->get_name())+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
-                        "]::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
-                    throw std::runtime_error(
-                        "[" + ros::this_node::getName() +
-                        "]::[EffectorDriverFrankaHand]::_gripper_status_loop::In testing mode.");
 #endif
+                    msg::GripperState msg;
+                    {
 #ifdef BLOCK_READ_IN_USED
-                    gripper_in_use_.lock();
+                        std::lock_guard<std::mutex> lock(gripper_in_use_);
-                    should_unlock = true;
 #endif
-                    franka::GripperState gripper_state = gripper_sptr_->readOnce();
+                        franka::GripperState gripper_state = gripper_sptr_->readOnce();
-#ifdef BLOCK_READ_IN_USED
+                        msg.set__width(static_cast<float>(gripper_state.width));
-                    gripper_in_use_.unlock();
+                        msg.set__max_width(static_cast<float>(gripper_state.max_width));
-#endif
+                        msg.set__is_grasped(gripper_state.is_grasped);
-                    sas_robot_driver_franka::GripperState msg;
+                        msg.set__temperature(gripper_state.temperature);
-                    msg.width = static_cast<float>(gripper_state.width);
+                        msg.set__duration_ms(gripper_state.time.toMSec());
-                    msg.max_width = static_cast<float>(gripper_state.max_width);
+                    }
-                    msg.is_grasped = gripper_state.is_grasped;
+                    gripper_status_publisher_->publish(msg);
-                    msg.temperature = gripper_state.temperature;
-                    msg.duration_ms = gripper_state.time.toMSec();
-                    gripper_status_publisher_.publish(msg);
                 }
                 catch (...)
                 {
-#ifdef BLOCK_READ_IN_USED
+                    RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Could not read gripper state. Unavailable.");
-                    if (should_unlock) gripper_in_use_.unlock();
+                    msg::GripperState msg;
-#endif
-                    ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Could not read gripper state. Unavailable.");
-                    sas_robot_driver_franka::GripperState msg;
                     msg.width = 0.0;
-                    gripper_status_publisher_.publish(msg);
+                    gripper_status_publisher_->publish(msg);
                 }
 
                 clock.update_and_sleep();
@@ -309,19 +327,14 @@ namespace qros
         }
         catch (std::exception& e)
         {
-            ROS_ERROR_STREAM(
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::" + std::string(e.what()));
-                "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::" + e.
-                what());
             status_loop_running_ = false;
         }
         catch (...)
         {
-            ROS_ERROR_STREAM(
+            RCLCPP_ERROR_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::Unknown exception.");
-                "["+ ros::this_node::getName()+
-                "]::[EffectorDriverFrankaHand]::_gripper_status_loop::Exception::Unknown exception.");
             status_loop_running_ = false;
         }
-        ROS_INFO_STREAM(
+        RCLCPP_INFO_STREAM(node_->get_logger(),"::[EffectorDriverFrankaHand]::_gripper_status_loop::Exiting status loop.");
-            "["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Exiting status loop.");
     }
 } // qros

src/hand/robot_interface_hand.cpp

@@ -1,4 +1,33 @@
-#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/joint/robot_interface_franka.cpp

@@ -30,10 +30,7 @@
 */
 
 
-#include "robot_interface_franka.h"
+#include <sas_robot_driver_franka/interfaces/robot_interface_franka.hpp>
-
-#include <ros/this_node.h>
-#include <rosconsole/macros_generated.h>
 
 
 /**
@@ -313,6 +310,7 @@ 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,

src/joint/sas_robot_driver_franka.cpp

@@ -31,32 +31,34 @@
 */
 
 
-#include "../../include/sas_robot_driver_franka.h"
+#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
-#include "sas_clock/sas_clock.h"
+#include <sas_core/sas_clock.hpp>
 #include <dqrobotics/utils/DQ_Math.h>
-#include <ros/this_node.h>
+
-#include <rosconsole/macros_generated.h>
 
 namespace sas
 {
-    RobotDriverFranka::RobotDriverFranka(qros::RobotDynamicProvider* robot_dynamic_provider, const RobotDriverFrankaConfiguration &configuration, std::atomic_bool *break_loops):
+    RobotDriverFranka::RobotDriverFranka(
+        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_(robot_dynamic_provider),
+    robot_dynamic_provider_sptr_(robot_dynamic_provider),
     break_loops_(break_loops)
    {
         joint_positions_.resize(7);
         joint_velocities_.resize(7);
-        joint_forces_.resize(7);
+        joint_torques_.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"))
         {
@@ -90,7 +92,7 @@ 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_->publish_stiffness(pose, force, torque);
+        robot_dynamic_provider_sptr_->publish_stiffness(pose, force, torque);
     }
 
 
@@ -143,9 +145,16 @@ namespace sas
     VectorXd  RobotDriverFranka::get_joint_positions()
     {
         if(robot_driver_interface_sptr_->get_err_state()) {
-            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),
+                "["+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();
     }
@@ -160,7 +169,9 @@ namespace sas
     {
         robot_driver_interface_sptr_->set_target_joint_positions(desired_joint_positions_rad);
         if(robot_driver_interface_sptr_->get_err_state()) {
-            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),
+                "["+std::string(node_->get_name())+"]::driver interface "
+                "error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
     }
@@ -182,10 +193,12 @@ 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()) {
-            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
+            RCLCPP_ERROR_STREAM(node_->get_logger(),
+                                "["+std::string(node_->get_name())+"]::driver interface "
+                                "error on:"+robot_driver_interface_sptr_->get_status_message());
             break_loops_->store(true);
         }
     }
@@ -194,10 +207,10 @@ namespace sas
      * @brief RobotDriverFranka::get_joint_forces
      * @return
      */
-    VectorXd RobotDriverFranka::get_joint_forces()
+    VectorXd RobotDriverFranka::get_joint_torques()
     {
-        joint_forces_ = robot_driver_interface_sptr_->get_joint_forces();
+        joint_torques_ = robot_driver_interface_sptr_->get_joint_forces();
-        return joint_forces_;
+        return joint_torques_;
     }
 
 }

src/robot_dynamics/qros_robot_dynamics_client.cpp

@@ -0,0 +1,102 @@
+/*
+# 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_interface.cpp

@@ -1,103 +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 <robot_dynamic/qros_robot_dynamics_interface.h>
-
-using namespace qros;
-
-RobotDynamicInterface::RobotDynamicInterface(ros::NodeHandle &nodehandle, const std::string &node_prefix):
-    RobotDynamicInterface(nodehandle, nodehandle, node_prefix)
-{
-    //Delegated
-}
-
-RobotDynamicInterface::RobotDynamicInterface(ros::NodeHandle &publisher_nodehandle, ros::NodeHandle &subscriber_nodehandle, const std::string &node_prefix):
-    node_prefix_(node_prefix),
-    child_frame_id_(node_prefix + "_stiffness_frame"),
-    parent_frame_id_(node_prefix + "_base"),
-    tf_buffer_(ros::Duration(BUFFER_DURATION_DEFAULT_S)),
-    tf_listener_(tf_buffer_, subscriber_nodehandle),
-    last_stiffness_force_(Vector3d::Zero()),
-    last_stiffness_torque_(Vector3d::Zero()),
-    last_stiffness_frame_pose_(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);}
-    ROS_INFO_STREAM(ros::this_node::getName() + "::Initializing RobotDynamicInterface with prefix " + node_prefix);
-    subscriber_cartesian_stiffness_ = subscriber_nodehandle.subscribe(node_prefix_ + "/get/cartesian_stiffness", 1, &RobotDynamicInterface::_callback_cartesian_stiffness, this);
-
-}
-
-void RobotDynamicInterface::_callback_cartesian_stiffness(const geometry_msgs::WrenchStampedConstPtr &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_, ros::Time(0));
-        last_stiffness_frame_pose_ = _geometry_msgs_transform_to_dq(transform_stamped.transform);
-    } catch (tf2::TransformException &ex) {
-        ROS_WARN_STREAM(ros::this_node::getName() + "::" + ex.what());
-    }
-}
-
-DQ RobotDynamicInterface::_geometry_msgs_transform_to_dq(const geometry_msgs::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 RobotDynamicInterface::get_stiffness_force()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicInterface]::calling get_stiffness_force on uninitialized topic");
-    return last_stiffness_force_;
-}
-VectorXd RobotDynamicInterface::get_stiffness_torque()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicInterface]::calling get_stiffness_torque on uninitialized topic");
-    return last_stiffness_torque_;
-}
-DQ RobotDynamicInterface::get_stiffness_frame_pose()
-{
-    if(!is_enabled()) throw std::runtime_error("[RobotDynamicInterface]::calling get_stiffness_frame_pose on uninitialized Interface");
-    return last_stiffness_frame_pose_;
-}
-
-bool RobotDynamicInterface::is_enabled() const
-{
-    if(last_stiffness_frame_pose_==0) return false;
-    return true;
-}

src/robot_dynamics/qros_robot_dynamics_provider.cpp

@@ -1,126 +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 <robot_dynamic/qros_robot_dynamics_provider.h>
-
-using namespace qros;
-
-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),
-    child_frame_id_(node_prefix + "_stiffness_frame"),
-    parent_frame_id_(node_prefix + "_base"),
-    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);}
-
-    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);
-
-}
-
-
-geometry_msgs::Transform RobotDynamicProvider::_dq_to_geometry_msgs_transform(const DQ& pose)
-{
-    geometry_msgs::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 RobotDynamicProvider::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("The world to base transform has already been set");
-    }
-}
-
-void RobotDynamicProvider::_publish_base_static_tf()
-{
-    geometry_msgs::TransformStamped base_tf;
-    base_tf.transform = _dq_to_geometry_msgs_transform(world_to_base_tf_);
-    base_tf.header.stamp = ros::Time::now();
-    base_tf.header.frame_id = WORLD_FRAME_ID;
-    base_tf.child_frame_id = parent_frame_id_;
-    static_base_tf_broadcaster_.sendTransform(base_tf);
-
-}
-
-
-void RobotDynamicProvider::publish_stiffness(const DQ& base_to_stiffness, const Vector3d& force, const Vector3d& torque)
-{
-    std_msgs::Header header;
-    header.stamp = ros::Time::now();
-    header.seq = seq_++;
-    geometry_msgs::WrenchStamped msg;
-    msg.header = header;
-    msg.header.frame_id = child_frame_id_;
-    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);
-    if(seq_ % REDUCE_TF_PUBLISH_RATE == 0)
-    {
-        geometry_msgs::TransformStamped tf_msg;
-        tf_msg.transform = _dq_to_geometry_msgs_transform(base_to_stiffness);
-        tf_msg.header = header;
-        tf_msg.header.frame_id = parent_frame_id_;
-        tf_msg.child_frame_id = child_frame_id_;
-        tf_broadcaster_.sendTransform(tf_msg);
-    }
-}
-
-
-bool RobotDynamicProvider::is_enabled() const
-{
-    return true; //Always enabled
-}
-

src/robot_dynamics/qros_robot_dynamics_py.cpp

@@ -32,29 +32,29 @@
 #include <pybind11/stl.h>
 #include <pybind11/eigen.h>
 
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_client.hpp>
-#include <robot_dynamic/qros_robot_dynamics_interface.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
 
 namespace py = pybind11;
-using RDI = qros::RobotDynamicInterface;
+using RDC = qros::RobotDynamicsClient;
-using RDP = qros::RobotDynamicProvider;
+using RDS = qros::RobotDynamicsServer;
 
 
-PYBIND11_MODULE(_qros_robot_dynamic, m)
+PYBIND11_MODULE(_qros_franka_robot_dynamics_py, m)
 {
-    py::class_<RDI>(m, "RobotDynamicsInterface")
+    py::class_<RDC>(m, "RobotDynamicsClient")
-        .def(py::init<const std::string&>())
+        .def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())
-        .def("get_stiffness_force",&RDI::get_stiffness_force)
+        .def("get_stiffness_force",&RDC::get_stiffness_force)
-        .def("get_stiffness_torque",&RDI::get_stiffness_torque)
+        .def("get_stiffness_torque",&RDC::get_stiffness_torque)
-        .def("get_stiffness_frame_pose",&RDI::get_stiffness_frame_pose)
+        .def("get_stiffness_frame_pose",&RDC::get_stiffness_frame_pose)
-        .def("is_enabled",&RDI::is_enabled,"Returns true if the RobotDynamicInterface is enabled.")
+        .def("is_enabled",&RDC::is_enabled,"Returns true if the RobotDynamicInterface is enabled.")
-        .def("get_topic_prefix",&RDI::get_topic_prefix);
+        .def("get_topic_prefix",&RDC::get_topic_prefix);
 
-    py::class_<RDP>(m, "RobotDynamicsProvider")
+    py::class_<RDS>(m, "RobotDynamicsServer")
-        .def(py::init<const std::string&>())
+        .def(py::init<const std::shared_ptr<rclcpp::Node>&,const std::string&>())
-        .def("publish_stiffness",&RDP::publish_stiffness)
+        .def("publish_stiffness",&RDS::publish_stiffness)
-        .def("set_world_to_base_tf", &RDP::set_world_to_base_tf)
+        .def("set_world_to_base_tf", &RDS::set_world_to_base_tf)
-        .def("is_enabled",&RDP::is_enabled,"Returns true if the RobotDynamicProvider is enabled.")
+        .def("is_enabled",&RDS::is_enabled,"Returns true if the RobotDynamicProvider is enabled.")
-        .def("get_topic_prefix",&RDP::get_topic_prefix);
+        .def("get_topic_prefix",&RDS::get_topic_prefix);
 
 }

src/robot_dynamics/qros_robot_dynamics_server.cpp

@@ -0,0 +1,120 @@
+/*
+# 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

@@ -26,6 +26,9 @@
 #      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
 #
 # ################################################################
 */
@@ -36,10 +39,9 @@
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
 //#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
-#include <sas_common/sas_common.h>
+#include <sas_common/sas_common.hpp>
-#include <sas_conversions/eigen3_std_conversions.h>
+#include <sas_conversions/eigen3_std_conversions.hpp>
-#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include <sas_robot_driver_franka/coppelia/sas_robot_driver_coppelia.hpp>
-#include "coppelia/sas_robot_driver_coppelia.h"
 
 /*********************************************
  * SIGNAL HANDLER
@@ -52,52 +54,51 @@ void sig_int_handler(int)
 }
 
 
+
 int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
     {
-        throw std::runtime_error(ros::this_node::getName() + "::Error setting the signal int handler.");
+        throw std::runtime_error("Error setting the signal int handler.");
     }
 
-    ros::init(argc, argv, "sas_robot_driver_coppelia_node", ros::init_options::NoSigintHandler);
+    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
-    ROS_WARN("=====================================================================");
+    auto context = rclcpp::contexts::get_global_default_context();
-    ROS_WARN("----------------------Juan Jose Quiroz Omana------------------------");
+
-    ROS_WARN("=====================================================================");
+    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_franka_coppelia_node");
-    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.");
 
 
-    ros::NodeHandle nh;
+    qros::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
-    sas::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
+    sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_coppelia_configuration.thread_sampling_time_sec);
-
+    sas::get_ros_parameter(node,"vrep_ip",robot_driver_coppelia_configuration.vrep_ip);
-    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_coppelia_configuration.ip);
+    sas::get_ros_parameter(node,"vrep_port",robot_driver_coppelia_configuration.vrep_port);
-    sas::get_ros_param(nh,"/robot_mode",      robot_driver_coppelia_configuration.robot_mode);
+    sas::get_ros_parameter(node,"vrep_joint_names", robot_driver_coppelia_configuration.vrep_joint_names);
-    sas::get_ros_param(nh,"/vrep_port", robot_driver_coppelia_configuration.port);
+    sas::get_ros_parameter(node,"vrep_dynamically_enabled", robot_driver_coppelia_configuration.vrep_dynamically_enabled);
-    sas::get_ros_param(nh,"/vrep_robot_joint_names", robot_driver_coppelia_configuration.jointnames);
+    sas::get_ros_parameter(node,"robot_mode", robot_driver_coppelia_configuration.robot_mode);
-    sas::get_ros_param(nh,"/mirror_mode", robot_driver_coppelia_configuration.mirror_mode);
+    sas::get_ros_parameter(node,"using_real_robot", robot_driver_coppelia_configuration.using_real_robot);
-    sas::get_ros_param(nh, "/real_robot_topic_prefix", robot_driver_coppelia_configuration.real_robot_topic_prefix);
+    sas::get_ros_parameter(node,"robot_topic_prefix", robot_driver_coppelia_configuration.robot_topic_prefix);
-    sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
+    sas::get_ros_parameter(node,"robot_parameter_file_path", robot_driver_coppelia_configuration.robot_parameter_file_path);
-
-    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
     {
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Coppelia robot.");
+        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"::Instantiating Coppelia robot mirror.");
-        sas::RobotDriverCoppelia robot_driver_coppelia(robot_driver_coppelia_configuration,
+        qros::RobotDriverCoppelia robot_driver_coppelia(node, robot_driver_coppelia_configuration,
                                                        &kill_this_process);
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
+
-        sas::RobotDriverROS robot_driver_ros(nh,
+        return robot_driver_coppelia.start_control_loop();
-                                             &robot_driver_coppelia,
-                                             robot_driver_ros_configuration,
-                                             &kill_this_process);
-        robot_driver_ros.control_loop();
     }
     catch (const std::exception& e)
     {
-        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
+        kill_this_process = true;
+        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/__init__.py

@@ -1,4 +0,0 @@
-"""
-"""
-from _qros_robot_dynamic import RobotDynamicsInterface, RobotDynamicsProvider
-from .franka_gripper_interface import FrankaGripperInterface

src/sas_robot_driver_franka/franka_gripper_interface.py

@@ -1,182 +0,0 @@
-import rospy
-from sas_robot_driver_franka.srv import Move, MoveRequest, MoveResponse, Grasp, GraspRequest, GraspResponse
-from sas_robot_driver_franka.msg import GripperState
-import os
-import threading
-from queue import Queue
-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, robot_prefix):
-        self.robot_prefix = robot_prefix
-        self.move_service = rospy.ServiceProxy(os.path.join(robot_prefix, MOVE_TOPIC_SUFFIX), Move)
-        self._moving = False
-        self.grasp_service = rospy.ServiceProxy(os.path.join(robot_prefix, GRASP_TOPIC_SUFFIX), Grasp)
-        self._grasping = False
-        self.status_subscriber = rospy.Subscriber(os.path.join(robot_prefix, STATUS_TOPIC_SUFFIX), GripperState,
-                                                  self._status_callback)
-
-        self.result_queue = Queue()
-
-        # gripper state
-        self.state_width = None
-        self.state_max_width = None
-        self.state_temperature = None
-        self.state_is_grasped = None
-
-    def _is_service_ready(self, service):
-        try:
-            rospy.wait_for_service(service, timeout=0.1)
-            return True
-        except rospy.ROSException:
-            return False
-
-    def is_enabled(self):
-        if self.state_width is None:
-            return False
-        if not self._is_service_ready(self.move_service.resolved_name):
-            return False
-        if not self._is_service_ready(self.grasp_service.resolved_name):
-            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 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")
-        threading.Thread(target=self._move, args=(width, speed)).start()
-
-    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")
-        threading.Thread(target=self._grasp, args=(width, force, speed, epsilon_inner, epsilon_outer)).start()
-
-    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
-
-    def is_done(self):
-        """ Check if the gripper is done moving or grasping """
-        if not self.is_busy():
-            rospy.logwarn("Gripper is not moving or grasping")
-            return False
-        else:
-            if self.result_queue.empty():
-                return False
-            else:
-                return True
-
-    def get_result(self):
-        """
-        Get the result of the last action
-        :return:
-        """
-        if not self.result_queue.empty():
-            response = self.result_queue.get()
-            self._moving = False
-            self._grasping = False
-            return response.success
-        else:
-            raise Exception("No result available")
-
-    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._moving and not self._grasping:
-            raise Exception("Gripper is not moving or grasping")
-        while self._moving or self._grasping:
-            rospy.sleep(0.1)
-            if not self.result_queue.empty():
-                response = self.result_queue.get()
-                if isinstance(response, MoveResponse):
-                    self._moving = False
-                elif isinstance(response, GraspResponse):
-                    self._grasping = False
-                else:
-                    raise Exception("Invalid response type")
-                break
-        return response.success
-
-    def _move(self, width, speed):
-        self._moving = True
-        request = MoveRequest()
-        request.width = width
-        request.speed = speed
-        response = self.move_service(request)
-        self.result_queue.put(response)
-
-    def _grasp(self, width, force, speed, epsilon_inner, epsilon_outer):
-        self._grasping = True
-        request = GraspRequest()
-        request.width = width
-        request.force = force
-        request.speed = speed
-        request.epsilon_inner = epsilon_inner
-        request.epsilon_outer = epsilon_outer
-        response = self.grasp_service(request)
-        self.result_queue.put(response)

src/sas_robot_driver_franka_hand_node.cpp

@@ -33,10 +33,9 @@
 
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
-#include <sas_common/sas_common.h>
+#include <sas_common/sas_common.hpp>
-#include <sas_conversions/eigen3_std_conversions.h>
+// #include <sas_conversions/eigen3_std_conversions.hpp>
-#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include <sas_robot_driver_franka/interfaces/qros_effector_driver_franka_hand.hpp>
-#include "hand/qros_effector_driver_franka_hand.h"
 
 
 /*********************************************
@@ -52,14 +51,14 @@ void sig_int_handler(int)
 
 
 template<typename T>
-void get_optional_parameter(const std::string &node_prefix, ros::NodeHandle &nh, const std::string &param_name, T &param)
+void get_optional_parameter(std::shared_ptr<Node> node, const std::string &param_name, T &param)
 {
-    if(nh.hasParam(node_prefix + param_name))
+    try
     {
-        sas::get_ros_param(nh,param_name,param);
+        sas::get_ros_parameter(node,param_name,param);
-    }else
+    }catch (const std::exception& e)
     {
-        ROS_INFO_STREAM(ros::this_node::getName() + "::Parameter " + param_name + " not found. Using default value. " + std::to_string(param));
+        RCLCPP_INFO_STREAM(node->get_logger(), "["+std::string(node->get_name())+"]:Parameter " + param_name + " not found. Using default value. " + std::to_string(param));
     }
 
 }
@@ -69,55 +68,54 @@ int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
     {
-        throw std::runtime_error(ros::this_node::getName() + "::Error setting the signal int handler.");
+        throw std::runtime_error("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.");
-    const std::string& effector_driver_provider_prefix = ros::this_node::getName();
 
+    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());
+    RCLCPP_WARN(node->get_logger(),"=====================================================================");
+    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.");
 
-    ros::NodeHandle nh;
     qros::EffectorDriverFrankaHandConfiguration robot_driver_franka_hand_configuration;
-
+    get_optional_parameter(node, "initialize_with_homing", robot_driver_franka_hand_configuration.initialize_with_homing);
-    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_hand_configuration.robot_ip);
+    sas::get_ros_parameter(node,"robot_ip_address",robot_driver_franka_hand_configuration.robot_ip);
-
+    sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_franka_hand_configuration.thread_sampeling_time_s);
-    get_optional_parameter(effector_driver_provider_prefix,nh,"/thread_sampling_time_nsec",robot_driver_franka_hand_configuration.thread_sampeling_time_ns);
+    sas::get_ros_parameter(node,"default_force",robot_driver_franka_hand_configuration.default_force);
-    get_optional_parameter(effector_driver_provider_prefix,nh,"/default_force",robot_driver_franka_hand_configuration.default_force);
+    sas::get_ros_parameter(node,"default_speed",robot_driver_franka_hand_configuration.default_speed);
-    get_optional_parameter(effector_driver_provider_prefix,nh,"/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);
-    get_optional_parameter(effector_driver_provider_prefix,nh,"/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);
-    get_optional_parameter(effector_driver_provider_prefix,nh,"/default_epsilon_outer",robot_driver_franka_hand_configuration.default_epsilon_outer);
 
     qros::EffectorDriverFrankaHand franka_hand_driver(
-        effector_driver_provider_prefix,
+        node_name,
         robot_driver_franka_hand_configuration,
-        nh,
+        node,
         &kill_this_process
     );
     try
     {
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka hand.");
+        RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::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)
     {
-        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
+        RCLCPP_ERROR_STREAM(node->get_logger(), "["+node_name+"]::Exception::" + e.what());
     }catch (...)
     {
-        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::Unknown exception.");
+        RCLCPP_ERROR_STREAM(node->get_logger(), "["+node_name+"]::Exception::Unknown exception.");
     }
-    ROS_INFO_STREAM(ros::this_node::getName()+"::Exiting...");
+    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Exiting...");
     franka_hand_driver.deinitialize();
-    ROS_INFO_STREAM(ros::this_node::getName()+"::deinitialized.");
+    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Deinitialized.");
     franka_hand_driver.disconnect();
-    ROS_INFO_STREAM(ros::this_node::getName()+"::disconnected.");
+    RCLCPP_INFO_STREAM(node->get_logger(),"["+node_name+"]::Disconnected.");
 
 
   return 0;

src/sas_robot_driver_franka_node.cpp

@@ -26,6 +26,8 @@
 #      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
 #
 # ################################################################
 */
@@ -36,11 +38,11 @@
 #include <exception>
 #include <dqrobotics/utils/DQ_Math.h>
 #include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
-#include <sas_common/sas_common.h>
+#include <sas_common/sas_common.hpp>
-#include <sas_conversions/eigen3_std_conversions.h>
+#include <sas_conversions/eigen3_std_conversions.hpp>
-#include <sas_robot_driver/sas_robot_driver_ros.h>
+#include <sas_robot_driver/sas_robot_driver_ros.hpp>
-#include "sas_robot_driver_franka.h"
+#include <sas_robot_driver_franka/sas_robot_driver_franka.hpp>
-#include <robot_dynamic/qros_robot_dynamics_provider.h>
+#include <sas_robot_driver_franka/robot_dynamic/qros_robot_dynamics_server.hpp>
 
 
 /*********************************************
@@ -74,90 +76,106 @@ 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(ros::this_node::getName() + "::Error setting the signal int handler.");
+        throw std::runtime_error("Error setting the signal int handler.");
     }
 
-    ros::init(argc, argv, "sas_robot_driver_franka_node", ros::init_options::NoSigintHandler);
+    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
-    ROS_WARN("=====================================================================");
+    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_franka_node");
-    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(),"=====================================================================");
+    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.");
     
-    ros::NodeHandle nh;
     sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
     RobotInterfaceFranka::FrankaInterfaceConfiguration franka_interface_configuration;
 
-    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
+    sas::get_ros_parameter(node,"robot_ip_address",robot_driver_franka_configuration.ip_address);
-    sas::get_ros_param(nh,"/robot_mode",      robot_driver_franka_configuration.mode);
+    sas::get_ros_parameter(node,"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_param(nh,"/force_upper_limits_scaling_factor",upper_scale_factor);
+        sas::get_ros_parameter(node,"force_upper_limits_scaling_factor",upper_scale_factor);
-        ROS_WARN_STREAM(ros::this_node::getName()+"::Set force upper limits scaling factor: " << upper_scale_factor);
+        RCLCPP_WARN_STREAM_ONCE(node->get_logger(),"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")) {
+
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold override and set.");
+    try {
         std::vector<double> upper_torque_threshold_std_vec;
-        sas::get_ros_param(nh,"/upper_torque_threshold",upper_torque_threshold_std_vec);
+        sas::get_ros_parameter(node,"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);
-    }else {
+    }catch(...) {
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper torque threshold not set. Using default with value scalling.");
+        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper torque threshold not set. Using default with value scalling.");
         franka_interface_configuration.upper_torque_threshold = apply_scale_to_std_array(franka_interface_configuration.upper_torque_threshold, upper_scale_factor);
     }
-    if(nh.hasParam(ros::this_node::getName()+"/upper_force_threshold")) {
+    try {
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold override and set.");
+        std::vector<double> upper_force_threshold_std_vec;
-        std::vector<double> upper_torque_threshold_std_vec;
+        sas::get_ros_parameter(node,"upper_force_threshold",upper_force_threshold_std_vec);
-        sas::get_ros_param(nh,"/upper_force_threshold",upper_torque_threshold_std_vec);
+        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper force threshold override and set.");
-        franka_interface_configuration.upper_force_threshold = std_vec_to_std_array<double,6>(upper_torque_threshold_std_vec);
+        franka_interface_configuration.upper_force_threshold = std_vec_to_std_array<double,6>(upper_force_threshold_std_vec);
-    }else {
+    }catch(...) {
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Upper force threshold not set. Using default with value scalling.");
+        RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Upper torque 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);
     }
-    if(nh.hasParam(ros::this_node::getName()+"/robot_parameter_file_path"))
+    try {
-    {
         std::string robot_parameter_file_path;
-        sas::get_ros_param(nh,"/robot_parameter_file_path",robot_parameter_file_path);
+        sas::get_ros_parameter(node,"robot_parameter_file_path",robot_parameter_file_path);
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Loading robot parameters from file: " + 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();
-    }else{ROS_INFO_STREAM(ros::this_node::getName()+"::Robot parameter file path not set. Robot Model Unknow.");}
+    }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_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
+    sas::get_ros_parameter(node,"thread_sampling_time_sec",robot_driver_ros_configuration.thread_sampling_time_sec);
-    sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
+    sas::get_ros_parameter(node,"q_min",robot_driver_ros_configuration.q_min);
-    sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
+    sas::get_ros_parameter(node,"q_max",robot_driver_ros_configuration.q_max);
 
     // initialize the robot dynamic provider
-    robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
+    robot_driver_ros_configuration.robot_driver_provider_prefix = node_name;
-    qros::RobotDynamicProvider robot_dynamic_provider(nh, robot_driver_ros_configuration.robot_driver_provider_prefix);
+    std::shared_ptr<qros::RobotDynamicsServer> robot_dynamic_provider_ptr = std::make_shared<qros::RobotDynamicsServer>(node, robot_driver_ros_configuration.robot_driver_provider_prefix);
     if(robot_driver_franka_configuration.robot_reference_frame!=0)
     {
-        robot_dynamic_provider.set_world_to_base_tf(robot_driver_franka_configuration.robot_reference_frame);
+        robot_dynamic_provider_ptr->set_world_to_base_tf(robot_driver_franka_configuration.robot_reference_frame);
     }
 
     try
         {
-            ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Franka robot.");
+            RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating Franka robot.");
-            sas::RobotDriverFranka robot_driver_franka(
+            std::shared_ptr<sas::RobotDriverFranka> robot_driver_franka = std::make_shared<sas::RobotDriverFranka>(
-                &robot_dynamic_provider,
+                node,
+                robot_dynamic_provider_ptr,
                 robot_driver_franka_configuration,
                 &kill_this_process
             );
-            //robot_driver_franka.set_joint_limits({qmin, qmax});
+            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)};
-            ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
+            robot_driver_franka -> set_joint_limits(joint_limits);
-            sas::RobotDriverROS robot_driver_ros(nh,
+            RCLCPP_INFO_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Instantiating RobotDriverROS.");
-                                                &robot_driver_franka, 
+            sas::RobotDriverROS robot_driver_ros(node,
+                                                robot_driver_franka,
                                                 robot_driver_ros_configuration,
                                                 &kill_this_process);
             robot_driver_ros.control_loop();
@@ -165,7 +183,7 @@ int main(int argc, char **argv)
     catch (const std::exception& e)
     {
         kill_this_process = true;
-        ROS_ERROR_STREAM(ros::this_node::getName() + "::Exception::" + e.what());
+        RCLCPP_ERROR_STREAM_ONCE(node->get_logger(),"["+node_name+"]::Exception::" + e.what());
     }     
  
 

srv/Grasp.srv

@@ -1,7 +0,0 @@
-float32 width
-float32 speed
-float32 force
-float32 epsilon_inner
-float32 epsilon_outer
----
-bool success

srv/Move.srv

@@ -1,4 +0,0 @@
-float32 width
-float32 speed
----
-bool success