From 530f50b3363e7c1233cf7a270ebff23293f83417 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Mon, 5 Aug 2019 11:49:38 +0200
Subject: [PATCH] updated changelog, reverted rviz removal in joint imp
example, libfranka RT prio setting in combined hw node
---
CHANGELOG.md | 22 +++++++++++++------
.../src/franka_combined_control_node.cpp | 18 +++++----------
.../joint_impedance_example_controller.launch | 1 +
3 files changed, 22 insertions(+), 19 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5e5933c..6383a9f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,15 +2,24 @@
## 0.7.0 - UNRELEASED
-Requires `libfranka` >= 0.5.0
-
- * `franka_combined_example_controllers` : Added this package with an example for dual-arm control based on franka_combinable_hw
+Requires `libfranka` >= 0.7.0
+ * **Breaking** moved services and action from `franka_control` to `franka_msgs`.
+ * **Breaking** moved Service container from `franka_control` to `franka_hw`.
+ * `franka_example_controllers` : Added example for dual-arm control based on franka_combinable_hw.
* `franka_description` : Added an example urdf with two panda arms.
- * `franka_combinable_hw`: Added this package to support torque-controlling multiple robots from one controller.
- * `franka_combined_control`: Added this package which contains a control node that can run multiple instances of `FrankaCombinableHW`.
+ * `franka_hw`:
+ - Added hardware classes to support torque-controlling multiple robots from one controller.
+ - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
+ - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
+ - Made initial collision behavior a parameter.
+ - Added default constructor and init method to FrankaHW.
+ - **Breaking** moved parsing of parameters from control node to FrankaHW::init.
+ - **Breaking** made libfranka robot a member of FrankaHW.
+ * `franka_control` :
+ - Added control node that can runs a `FrankaCombinedHW` to control mulitple Pandas.
* `franka_control`:
- Publish whole `libfranka` `franka::RobotState` in `franka_state_controller`.
- * `franka_description`
+ * `franka_description` :
- **BREAKING** Updated collision volumes.
- Removed invalid `axis` for `joint8`.
* `franka_example_controllers`:
@@ -124,4 +133,3 @@ Requires `libfranka` >= 0.2.0
## 0.1.0 - 2017-09-15
* Initial release
-
diff --git a/franka_control/src/franka_combined_control_node.cpp b/franka_control/src/franka_combined_control_node.cpp
index a5211c7..dfcb9ba 100644
--- a/franka_control/src/franka_combined_control_node.cpp
+++ b/franka_control/src/franka_combined_control_node.cpp
@@ -5,6 +5,7 @@
#include <franka_hw/franka_combined_hw.h>
#include <ros/ros.h>
+#include <franka/control_tools.h>
#include <sched.h>
#include <string>
@@ -21,18 +22,11 @@ int main(int argc, char** argv) {
return 1;
}
- // set current control_loop thread to real-time
- const int kThreadPriority = sched_get_priority_max(SCHED_FIFO);
- if (kThreadPriority == -1) {
- ROS_ERROR("franka_combined_control_node: unable to get maximum possible thread priority: %s",
- std::strerror(errno));
- return 1;
- }
- sched_param thread_param{};
- thread_param.sched_priority = kThreadPriority;
- if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &thread_param) != 0) {
- ROS_ERROR("franka_combined_control_node: unable to set realtime scheduling: %s",
- std::strerror(errno));
+ // set current thread to real-time priority
+ std::string error_message;
+ if (!franka::setCurrentThreadToHighestSchedulerPriority(&error_message)) {
+ ROS_ERROR("franka_combined_control_node: Failed to set thread priority to real-time. Error: %s",
+ error_message.c_str());
return 1;
}
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 326617e..380c5e1 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -9,4 +9,5 @@
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_impedance_example_controller"/>
+ <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</launch>
--
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