diff --git a/.ci/Dockerfile b/.ci/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..1846ed32ddb99e38481179408f2d69d328322b09
--- /dev/null
+++ b/.ci/Dockerfile
@@ -0,0 +1,6 @@
+FROM osrf/ros:kinetic-desktop-xenial
+RUN apt-get update && apt-get install -y \
+ clang \
+ clang-format \
+ clang-tidy \
+ ros-kinetic-ros-control
diff --git a/.ci/debug.sh b/.ci/debug.sh
new file mode 100755
index 0000000000000000000000000000000000000000..60da7051f77d3bc17fc41b2091dc06d0fc24a204
--- /dev/null
+++ b/.ci/debug.sh
@@ -0,0 +1,23 @@
+#!/bin/sh
+
+set -e
+set -x
+
+. /opt/ros/kinetic/setup.sh
+
+rm -f src/CMakeLists.txt
+catkin_init_workspace src
+
+rm -rf build-debug
+mkdir build-debug
+cd build-debug
+
+cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ../src
+. devel/setup.sh
+
+cmake --build .
+cmake --build . --target tests
+ctest -V
+
+cmake --build . --target check-format
+cmake --build . --target check-tidy
diff --git a/Jenkinsfile b/Jenkinsfile
index ffce21c24ef80ee0f704b50d6ea734f960808bb7..457a5079a7c52942851ff32904619922cb5e9263 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -3,50 +3,48 @@
node {
step([$class: 'StashNotifier'])
- def gitCommit
try {
- stage('Checkout') {
- dir('catkin_ws/src') {
- checkout scm
- gitCommit = sh(script: 'git rev-parse HEAD', returnStdout: true).trim()
- }
-
- dir('libfranka') {
- // TODO(walc_fl): Remove hard-coded repository URL
- checkout resolveScm(source: [$class: 'GitSCMSource', remote: 'https://github.com/frankaemika/libfranka.git',
- credentialsId: '6a639baf-566a-4e66-b089-74cd9ecb38a8', includes: '*', excludes: '',
- extensions: [[$class: 'SubmoduleOption', parentCredentials: true, recursiveSubmodules: true]]],
- targets: [BRANCH_NAME, 'master'])
- }
+ dir('src/franka_ros') {
+ checkout scm
}
- stage('Build libfranka') {
- dir('libfranka/build') {
- sh 'cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_COVERAGE=OFF -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_DOCUMENTATION=OFF ..'
- sh 'cmake --build .'
+ sh 'rm -rf dist'
+ dir('dist') {
+ try {
+ step([$class: 'CopyArtifact',
+ filter: 'libfranka-*-amd64.tar.gz',
+ fingerprintArtifacts: true,
+ projectName: "SWDEV/libfranka/${BRANCH_NAME}",
+ selector: [$class: 'StatusBuildSelector', stable: false]])
+ } catch (e) {
+ // Fall back to master branch.
+ step([$class: 'CopyArtifact',
+ filter: 'libfranka-*-amd64.tar.gz',
+ fingerprintArtifacts: true,
+ projectName: "SWDEV/libfranka/master",
+ selector: [$class: 'StatusBuildSelector', stable: false]])
}
+ sh '''
+ tar xfz libfranka-*-amd64.tar.gz
+ ln -sf libfranka-*-amd64 libfranka
+ '''
}
- dir('catkin_ws') {
- stage('Build in debug mode') {
- env.FRANKA_DIR = "${pwd()}/../libfranka/build"
- sh 'src/scripts/ci/debug-build.sh'
- }
-
- stage('Archive results') {
- junit 'build/test_results/**/*.xml'
+ docker.build('franka_ros-ci-worker', 'src/franka_ros/.ci').inside {
+ withEnv(["CMAKE_PREFIX_PATH+=${env.WORKSPACE}/dist/libfranka/lib/cmake/Franka",
+ "ROS_HOME=${env.WORKSPACE}/ros-home"]) {
+ stage('Build & Lint (Debug)') {
+ sh 'src/franka_ros/.ci/debug.sh'
+ junit 'build-debug/test_results/**/*.xml'
+ }
}
}
+
currentBuild.result = 'SUCCESS'
} catch (e) {
currentBuild.result = 'FAILED'
throw e;
} finally {
- // Explicitly specify commit hash, otherwise Stash will get notified about the `libfranka` commit as well.
- if (gitCommit) {
- step([$class: 'StashNotifier', commitSha1: gitCommit])
- } else {
- step([$class: 'StashNotifier'])
- }
+ step([$class: 'StashNotifier'])
}
}
diff --git a/franka_gripper/action/Grasp.action b/franka_gripper/action/Grasp.action
index 3625ca6bc17bc9a8935803de61d2c4ab7dbba9a7..97fa8320b9378b93c372611a3ae236ac2079fa81 100644
--- a/franka_gripper/action/Grasp.action
+++ b/franka_gripper/action/Grasp.action
@@ -1,6 +1,6 @@
float64 width # [m]
float64 speed # [m/s]
-float64 max_current # [mA]
+float64 force # [N]
---
bool success
string error
diff --git a/franka_gripper/config/gripper_node_config.yaml b/franka_gripper/config/gripper_node_config.yaml
index bb10ea4610a0e70467641157a50c1e71aa5c2e50..eb375d850b055cf7771b18cb011e84bf8a863af4 100644
--- a/franka_gripper/config/gripper_node_config.yaml
+++ b/franka_gripper/config/gripper_node_config.yaml
@@ -3,5 +3,4 @@ joint_names:
- franka_emika_finger_joint1
- franka_emika_finger_joint2
width_tolerance: 0.01 # [m]
-default_speed: 0.1 # [m/s]
-newton_to_m_ampere_factor: 14.9 # [mA/N]
+default_speed: 0.1 # [m/s]
\ No newline at end of file
diff --git a/franka_gripper/include/franka_gripper/franka_gripper.h b/franka_gripper/include/franka_gripper/franka_gripper.h
index 4455fd24f0efe65725abf202a1a130bd590b30e4..ecae821f3620b64c6fadc3880bb753f2cc2dcd53 100644
--- a/franka_gripper/include/franka_gripper/franka_gripper.h
+++ b/franka_gripper/include/franka_gripper/franka_gripper.h
@@ -31,14 +31,12 @@ bool updateGripperState(const franka::Gripper& gripper, franka::GripperState* st
*
* @param[in] gripper A pointer to a franka gripper
* @param[in] default_speed The default speed for a gripper action
- * @param[in] newton_to_m_ampere_factor The mapping factor from Newton to milliampere
* @param[in] action_server A pointer to a gripper action server
* @param[in] goal A gripper action goal
*/
void gripperCommandExecuteCallback(
const franka::Gripper& gripper,
double default_speed,
- double newton_to_m_ampere_factor,
actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
const control_msgs::GripperCommandGoalConstPtr& goal);
diff --git a/franka_gripper/src/franka_gripper.cpp b/franka_gripper/src/franka_gripper.cpp
index 53ce94ec016fa058b3851e8ba778d6e7e4f61a5f..9684e5d79531eba33d601d6693ae242a58866be6 100644
--- a/franka_gripper/src/franka_gripper.cpp
+++ b/franka_gripper/src/franka_gripper.cpp
@@ -28,7 +28,6 @@ bool updateGripperState(const franka::Gripper& gripper, franka::GripperState* st
void gripperCommandExecuteCallback(
const franka::Gripper& gripper,
double default_speed,
- double newton_to_m_ampere_factor,
actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
const control_msgs::GripperCommandGoalConstPtr& goal) {
std::function<bool()> gripper_command_handler = [=, &gripper]() {
@@ -41,8 +40,7 @@ void gripperCommandExecuteCallback(
if (goal->command.position >= state.width) {
return gripper.move(goal->command.position, default_speed);
}
- return gripper.grasp(goal->command.position, default_speed,
- goal->command.max_effort * newton_to_m_ampere_factor);
+ return gripper.grasp(goal->command.position, default_speed, goal->command.max_effort);
};
try {
@@ -77,7 +75,7 @@ bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/) {
}
bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal) {
- return gripper.grasp(goal->width, goal->speed, goal->max_current);
+ return gripper.grasp(goal->width, goal->speed, goal->force);
}
} // namespace franka_gripper
diff --git a/franka_gripper/src/franka_gripper_node.cpp b/franka_gripper/src/franka_gripper_node.cpp
index 9ad8f43a06fea2c0884d00c6a94689f92346be59..407fc52656273dc9fb7e03bd2cfdeac9ada9f857 100644
--- a/franka_gripper/src/franka_gripper_node.cpp
+++ b/franka_gripper/src/franka_gripper_node.cpp
@@ -73,12 +73,6 @@ int main(int argc, char** argv) {
ROS_INFO_STREAM("franka_gripper_node: Found default_speed" << default_speed);
}
- double newton_to_m_ampere_factor(14.9);
- if (node_handle.getParam("newton_to_m_ampere_factor", newton_to_m_ampere_factor)) {
- ROS_INFO_STREAM("franka_gripper_node: Found newton_to_m_ampere_factor"
- << newton_to_m_ampere_factor);
- }
-
franka::Gripper gripper(robot_ip);
std::function<bool(const HomingGoalConstPtr&)> homing_handler =
@@ -114,7 +108,7 @@ int main(int argc, char** argv) {
SimpleActionServer<GripperCommandAction> gripper_command_action_server(
node_handle, "gripper_action",
std::bind(&gripperCommandExecuteCallback, std::cref(gripper), default_speed,
- newton_to_m_ampere_factor, &gripper_command_action_server, std::placeholders::_1),
+ &gripper_command_action_server, std::placeholders::_1),
false);
homing_action_server_.start();
diff --git a/scripts/ci/debug-build.sh b/scripts/ci/debug-build.sh
deleted file mode 100755
index ffd606ea26a5393ee6fc66a47aae15019ba32ed8..0000000000000000000000000000000000000000
--- a/scripts/ci/debug-build.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-
-set -e
-
-. /opt/ros/kinetic/setup.sh
-
-rm -rf build devel
-catkin_make --cmake-args -DFranka_DIR:PATH=$FRANKA_DIR -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-. devel/setup.sh
-catkin_make -j1 check-format
-catkin_make -j1 check-tidy
-catkin_make run_tests