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This is an archived project. Repository and other project resources are read-only.
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CeTI
ROS
ROS Packages
franka_description
Commits
2b424cb4
Commit
2b424cb4
authored
7 years ago
by
Florian Walch
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Fix franka_gripper_node publishing
parent
b80e94b0
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CHANGELOG.md
+3
-2
3 additions, 2 deletions
CHANGELOG.md
franka_gripper/src/franka_gripper_node.cpp
+9
-11
9 additions, 11 deletions
franka_gripper/src/franka_gripper_node.cpp
with
12 additions
and
13 deletions
CHANGELOG.md
+
3
−
2
View file @
2b424cb4
...
...
@@ -6,8 +6,9 @@
*
Added epsilon to grasp action
*
Added
`m_ee`
,
`F_x_Cee`
,
`I_ee`
,
`m_total`
,
`F_x_Ctotal`
and
`I_total`
to the robot state
*
Use O_T_EE_d in examples
*
Fix includes for Eigen3 in
`franka_example_controllers`
*
Use
`O_T_EE_d`
in examples
*
Fixed includes for Eigen3 in
`franka_example_controllers`
*
Fixed gripper state publishing in
`franka_gripper_node`
## 0.1.2 - 2017-10-10
...
...
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franka_gripper/src/franka_gripper_node.cpp
+
9
−
11
View file @
2b424cb4
...
...
@@ -11,7 +11,6 @@
#include
<ros/rate.h>
#include
<ros/spinner.h>
#include
<sensor_msgs/JointState.h>
#include
<xmlrpcpp/XmlRpc.h>
#include
<franka/gripper_state.h>
#include
<franka_gripper/franka_gripper.h>
...
...
@@ -133,27 +132,26 @@ int main(int argc, char** argv) {
<<
publish_rate
);
}
XmlRpc
::
XmlRpcValue
par
ams
;
if
(
!
node_handle
.
getParam
(
"joint_names"
,
par
ams
))
{
std
::
vector
<
std
::
string
>
joint_n
am
e
s
;
if
(
!
node_handle
.
getParam
(
"joint_names"
,
joint_n
am
e
s
))
{
ROS_ERROR
(
"franka_gripper_node: Could not parse joint_names!"
);
return
-
1
;
}
if
(
par
ams
.
size
()
!=
2
)
{
if
(
joint_n
am
e
s
.
size
()
!=
2
)
{
ROS_ERROR
(
"franka_gripper_node: Got wrong number of joint_names!"
);
return
-
1
;
}
std
::
vector
<
std
::
string
>
joint_names
(
params
.
size
());
for
(
int
i
=
0
;
i
<
params
.
size
();
++
i
)
{
joint_names
[
i
]
=
static_cast
<
std
::
string
>
(
params
[
i
]);
}
franka
::
GripperState
gripper_state
;
std
::
mutex
gripper_state_mutex
;
std
::
thread
read_thread
([
&
gripper_state
,
&
gripper
,
&
gripper_state_mutex
]()
{
ros
::
Rate
read_rate
(
10
);
while
(
read_rate
.
sleep
()
&&
ros
::
ok
())
{
std
::
lock_guard
<
std
::
mutex
>
lock
(
gripper_state_mutex
);
updateGripperState
(
gripper
,
&
gripper_state
);
while
(
ros
::
ok
())
{
{
std
::
lock_guard
<
std
::
mutex
>
_
(
gripper_state_mutex
);
updateGripperState
(
gripper
,
&
gripper_state
);
}
read_rate
.
sleep
();
}
});
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