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CeTI
ROS
ROS Packages
Panda Util
Commits
5bd6161a
Commit
5bd6161a
authored
3 years ago
by
Johannes Mey
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add error recovery method
parent
85145987
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CMakeLists.txt
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CMakeLists.txt
include/PandaUtil.h
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include/PandaUtil.h
package.xml
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package.xml
src/PandaUtil.cpp
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src/PandaUtil.cpp
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CMakeLists.txt
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cmake_minimum_required
(
VERSION 3.0.2
)
project
(
panda_util
)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED COMPONENTS
franka_control
franka_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
INCLUDE_DIRS
include
${
catkin_INCLUDE_DIRS
}
LIBRARIES
${
PROJECT_NAME
}
_panda_util
CATKIN_DEPENDS
franka_control
franka_msgs
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories
(
include
${
catkin_INCLUDE_DIRS
}
)
## Declare a C++ library
add_library
(
${
PROJECT_NAME
}
_panda_util src/PandaUtil.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies
(
${
PROJECT_NAME
}
_panda_util
${${
PROJECT_NAME
}
_EXPORTED_TARGETS
}
${
catkin_EXPORTED_TARGETS
}
)
## Specify libraries to link a library or executable target against
target_link_libraries
(
${
PROJECT_NAME
}
_panda_util
${
catkin_LIBRARIES
}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_panda_util.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
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include/PandaUtil.h
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//
// Created by Johannes Mey on 12/10/21.
//
#ifndef DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_
#define DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_
class
PandaUtil
{
public:
/**
* Recover the panda robot from any error states
* The behavior is describe in https://frankaemika.github.io/docs/franka_ros.html#franka-control
* @return true if the recovery succeeded
*/
static
bool
recoverFromErrors
();
};
#endif //DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_
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package.xml
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<?xml version="1.0"?>
<package
format=
"2"
>
<name>
panda_util
</name>
<version>
0.1.0
</version>
<description>
Utility methods for the Franka Emika Panda robot
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"johannes.mey@tu-dresden.de"
>
Johannes Mey
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>
BSD
</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/panda_util</url> -->
<!-- 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> -->
<author
email=
"johannes.mey@tu-dresden.de"
>
Johannes Mey
</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>
<depend>
franka_control
</depend>
<depend>
franka_msgs
</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
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src/PandaUtil.cpp
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//
// Created by Johannes Mey on 12/10/21.
//
#include
"../include/PandaUtil.h"
#include
"franka_msgs/ErrorRecoveryAction.h"
#include
<actionlib/client/simple_action_client.h>
bool
PandaUtil
::
recoverFromErrors
()
{
actionlib
::
SimpleActionClient
<
franka_msgs
::
ErrorRecoveryAction
>
ac
(
"/franka_control/error_recovery"
,
true
);
if
(
!
ac
.
waitForServer
(
ros
::
Duration
(
10.0
)))
{
ROS_ERROR
(
"Panda error recovery failed (action server not available)."
);
return
false
;
}
franka_msgs
::
ErrorRecoveryGoal
goal
;
ac
.
sendGoal
(
goal
);
if
(
ac
.
waitForResult
(
ros
::
Duration
(
20.0
)))
{
actionlib
::
SimpleClientGoalState
state
=
ac
.
getState
();
ROS_INFO_STREAM
(
"Panda error recovery finished: "
<<
state
.
toString
());
return
state
==
actionlib
::
SimpleClientGoalState
::
SUCCEEDED
;
}
else
{
ROS_ERROR
(
"Panda error recovery failed (with timeout)."
);
return
false
;
}
}
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