Controller class for ros_control that allows force-feedback teleoperation of a follower arm from a leader arm. More...

#include <teleop_joint_pd_example_controller.h>

Inheritance diagram for franka_example_controllers::TeleopJointPDExampleController:

Classes
struct	FrankaDataContainer

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
	Initializes the controller class to be ready to run. More...

void	starting (const ros::Time &) override
	Prepares the controller for the real-time execution. More...

void	update (const ros::Time &, const ros::Duration &period) override
	Computes the control-law and commands the resulting joint torques to the robots. More...

Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Types
using	Matrix7d = Eigen::Matrix< double, 7, 7 >

using	Vector6d = Eigen::Matrix< double, 6, 1 >

using	Vector7d = Eigen::Matrix< double, 7, 1 >

Private Member Functions
template<typename T >
T	get1dParam (const std::string &param_name, ros::NodeHandle &nh)

Vector7d	get7dParam (const std::string &param_name, ros::NodeHandle &nh)

template<typename T >
std::vector< T >	getJointParams (const std::string &param_name, ros::NodeHandle &nh)

void	initArm (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle, FrankaDataContainer &arm_data, const std::string &arm_id, const std::vector< std::string > &joint_names)

Vector7d	leaderDamping (const Vector7d &dq)

void	publishFollowerContact ()

void	publishFollowerTarget ()

void	publishLeaderContact ()

void	publishLeaderTarget ()

void	publishMarkers ()

double	rampParameter (double x, double neg_x_asymptote, double pos_x_asymptote, double shift_along_x, double increase_factor)

Vector7d	saturateAndLimit (const Vector7d &x_calc, const Vector7d &x_last, const Vector7d &x_max, const Vector7d &dx_max, double delta_t)

void	teleopParamCallback (franka_example_controllers::teleop_paramConfig &config, uint32_t level)

void	updateArm (FrankaDataContainer &arm_data)

Static Private Member Functions
static void	getJointLimits (ros::NodeHandle &nh, const std::vector< std::string > &joint_names, std::array< double, 7 > &upper_joint_soft_limit, std::array< double, 7 > &lower_joint_soft_limit)

Private Attributes
Vector7d	alignment_error_

TeleopStateMachine	current_state_ {TeleopStateMachine::ALIGN}

Vector7d	ddq_max_align_ {(Vector7d() << 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5).finished()}

Vector7d	ddq_max_lower_

Vector7d	ddq_max_upper_

bool	debug_ {false}

double	decrease_factor_ {0.95}

Vector7d	dq_max_align_ {(Vector7d() << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1).finished()}

Vector7d	dq_max_leader_lower_

Vector7d	dq_max_leader_upper_

Vector7d	dq_max_lower_

Vector7d	dq_max_upper_

Vector7d	dq_target_

Vector7d	dq_target_last_

Vector7d	dq_unsaturated_

std::mutex	dynamic_reconfigure_mutex_

ros::NodeHandle	dynamic_reconfigure_teleop_param_node_

std::unique_ptr< dynamic_reconfigure::Server< franka_example_controllers::teleop_paramConfig > >	dynamic_server_teleop_param_

realtime_tools::RealtimePublisher< std_msgs::Float64 >	follower_contact_pub_

FrankaDataContainer	follower_data_

double	follower_stiffness_scaling_ {1.0}

realtime_tools::RealtimePublisher< sensor_msgs::JointState >	follower_target_pub_

double	force_feedback_guiding_ {0.95}

double	force_feedback_idle_ {0.5}

Vector7d	init_leader_q_

Vector7d	k_d_follower_

Vector7d	k_d_follower_align_ {(Vector7d() << 4.5, 4.5, 4.5, 4.5, 1.5, 1.5, 1.0).finished()}

Vector7d	k_d_leader_lower_

Vector7d	k_d_leader_upper_

Vector7d	k_dq_

Vector7d	k_p_follower_

Vector7d	k_p_follower_align_ {(Vector7d() << 45.0, 45.0, 45.0, 45.0, 18.0, 11.0, 5.0).finished()}

const double	kAlignmentTolerance_ {1e-2}

realtime_tools::RealtimePublisher< std_msgs::Float64 >	leader_contact_pub_

double	leader_damping_scaling_ {1.0}

FrankaDataContainer	leader_data_

realtime_tools::RealtimePublisher< sensor_msgs::JointState >	leader_target_pub_

realtime_tools::RealtimePublisher< visualization_msgs::MarkerArray >	marker_pub_

Vector7d	prev_alignment_error_

franka_hw::TriggerRate	publish_rate_ {60.0}

Vector7d	q_target_

Vector7d	q_target_last_

double	velocity_ramp_increase_ {20}

double	velocity_ramp_shift_ {0.25}

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Controller class for ros_control that allows force-feedback teleoperation of a follower arm from a leader arm.

Smooth tracking is implemented by integrating a velocity signal, which is calculated by limiting and saturating the velocity of the leader arm and a drift compensation. The torque control of the follower arm is implemented by a simple PD-controller. The leader arm is slightly damped to reduce vibrations. Force-feedback is applied to the leader arm when the external forces on the follower arm exceed a configured threshold. While the leader arm is unguided (not in contact), the applied force-feedback will be reduced.

Definition at line 48 of file teleop_joint_pd_example_controller.h.

Member Typedef Documentation

◆ Matrix7d

using franka_example_controllers::TeleopJointPDExampleController::Matrix7d = Eigen::Matrix<double, 7, 7>

private

Definition at line 77 of file teleop_joint_pd_example_controller.h.

◆ Vector6d

using franka_example_controllers::TeleopJointPDExampleController::Vector6d = Eigen::Matrix<double, 6, 1>

private

Definition at line 75 of file teleop_joint_pd_example_controller.h.

◆ Vector7d

using franka_example_controllers::TeleopJointPDExampleController::Vector7d = Eigen::Matrix<double, 7, 1>

private

Definition at line 76 of file teleop_joint_pd_example_controller.h.

Member Function Documentation

◆ get1dParam()

template<typename T >

T franka_example_controllers::TeleopJointPDExampleController::get1dParam	(	const std::string &	param_name,
		ros::NodeHandle &	nh
	)

inlineprivate

Definition at line 180 of file teleop_joint_pd_example_controller.h.

◆ get7dParam()

Vector7d franka_example_controllers::TeleopJointPDExampleController::get7dParam	(	const std::string &	param_name,
		ros::NodeHandle &	nh
	)

private

Definition at line 504 of file teleop_joint_pd_example_controller.cpp.

◆ getJointLimits()

void franka_example_controllers::TeleopJointPDExampleController::getJointLimits	(	ros::NodeHandle &	nh,
		const std::vector< std::string > &	joint_names,
		std::array< double, 7 > &	upper_joint_soft_limit,
		std::array< double, 7 > &	lower_joint_soft_limit
	)

staticprivate

Definition at line 425 of file teleop_joint_pd_example_controller.cpp.

◆ getJointParams()

template<typename T >

std::vector<T> franka_example_controllers::TeleopJointPDExampleController::getJointParams	(	const std::string &	param_name,
		ros::NodeHandle &	nh
	)

inlineprivate

Definition at line 167 of file teleop_joint_pd_example_controller.h.

◆ init()

bool franka_example_controllers::TeleopJointPDExampleController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	node_handle
	)

overridevirtual

Initializes the controller class to be ready to run.

Parameters

[in]	robot_hw	Pointer to a RobotHW class to get interfaces and resource handles.
[in]	node_handle	Nodehandle that allows getting parameterizations from the server and starting publisher

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, franka_hw::FrankaStateInterface >.

Definition at line 25 of file teleop_joint_pd_example_controller.cpp.

◆ initArm()

void franka_example_controllers::TeleopJointPDExampleController::initArm	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	node_handle,
		FrankaDataContainer &	arm_data,
		const std::string &	arm_id,
		const std::vector< std::string > &	joint_names
	)

private

Definition at line 139 of file teleop_joint_pd_example_controller.cpp.

◆ leaderDamping()

Vector7d franka_example_controllers::TeleopJointPDExampleController::leaderDamping ( const Vector7d & dq )

private

Definition at line 510 of file teleop_joint_pd_example_controller.cpp.

◆ publishFollowerContact()

void franka_example_controllers::TeleopJointPDExampleController::publishFollowerContact ( )

private

Definition at line 497 of file teleop_joint_pd_example_controller.cpp.

◆ publishFollowerTarget()

void franka_example_controllers::TeleopJointPDExampleController::publishFollowerTarget ( )

private

Definition at line 478 of file teleop_joint_pd_example_controller.cpp.

◆ publishLeaderContact()

void franka_example_controllers::TeleopJointPDExampleController::publishLeaderContact ( )

private

Definition at line 490 of file teleop_joint_pd_example_controller.cpp.

◆ publishLeaderTarget()

void franka_example_controllers::TeleopJointPDExampleController::publishLeaderTarget ( )

private

Definition at line 466 of file teleop_joint_pd_example_controller.cpp.

◆ publishMarkers()

void franka_example_controllers::TeleopJointPDExampleController::publishMarkers ( )

private

Definition at line 529 of file teleop_joint_pd_example_controller.cpp.

◆ rampParameter()

double franka_example_controllers::TeleopJointPDExampleController::rampParameter	(	double	x,
		double	neg_x_asymptote,
		double	pos_x_asymptote,
		double	shift_along_x,
		double	increase_factor
	)

private

Definition at line 366 of file teleop_joint_pd_example_controller.cpp.

◆ saturateAndLimit()

Eigen::Matrix< double, 7, 1 > franka_example_controllers::TeleopJointPDExampleController::saturateAndLimit	(	const Vector7d &	x_calc,
		const Vector7d &	x_last,
		const Vector7d &	x_max,
		const Vector7d &	dx_max,
		double	delta_t
	)

private

Definition at line 351 of file teleop_joint_pd_example_controller.cpp.

◆ starting()

void franka_example_controllers::TeleopJointPDExampleController::starting ( const ros::Time & )

overridevirtual

Prepares the controller for the real-time execution.

This method is executed once every time the controller is started and runs in real-time

Reimplemented from controller_interface::ControllerBase.

Definition at line 194 of file teleop_joint_pd_example_controller.cpp.

◆ teleopParamCallback()

void franka_example_controllers::TeleopJointPDExampleController::teleopParamCallback	(	franka_example_controllers::teleop_paramConfig &	config,
		uint32_t	level
	)

private

Definition at line 377 of file teleop_joint_pd_example_controller.cpp.

◆ update()

void franka_example_controllers::TeleopJointPDExampleController::update	(	const ros::Time &	,
		const ros::Duration &	period
	)

overridevirtual

Computes the control-law and commands the resulting joint torques to the robots.

Parameters

[in] period The control period (here 0.001s)

Implements controller_interface::ControllerBase.

Definition at line 215 of file teleop_joint_pd_example_controller.cpp.

◆ updateArm()

void franka_example_controllers::TeleopJointPDExampleController::updateArm ( FrankaDataContainer & arm_data )

private

Definition at line 345 of file teleop_joint_pd_example_controller.cpp.

Member Data Documentation

◆ alignment_error_

Vector7d franka_example_controllers::TeleopJointPDExampleController::alignment_error_

private

Definition at line 120 of file teleop_joint_pd_example_controller.h.

◆ current_state_

TeleopStateMachine franka_example_controllers::TeleopJointPDExampleController::current_state_ {TeleopStateMachine::ALIGN}

private

Definition at line 142 of file teleop_joint_pd_example_controller.h.

◆ ddq_max_align_

Vector7d franka_example_controllers::TeleopJointPDExampleController::ddq_max_align_ {(Vector7d() << 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5).finished()}

private

Definition at line 118 of file teleop_joint_pd_example_controller.h.

◆ ddq_max_lower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::ddq_max_lower_

private

Definition at line 110 of file teleop_joint_pd_example_controller.h.

◆ ddq_max_upper_

Vector7d franka_example_controllers::TeleopJointPDExampleController::ddq_max_upper_

private

Definition at line 111 of file teleop_joint_pd_example_controller.h.

◆ debug_

bool franka_example_controllers::TeleopJointPDExampleController::debug_ {false}

private

Definition at line 199 of file teleop_joint_pd_example_controller.h.

◆ decrease_factor_

double franka_example_controllers::TeleopJointPDExampleController::decrease_factor_ {0.95}

private

Definition at line 140 of file teleop_joint_pd_example_controller.h.

◆ dq_max_align_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_max_align_ {(Vector7d() << 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1).finished()}

private

Definition at line 116 of file teleop_joint_pd_example_controller.h.

◆ dq_max_leader_lower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_max_leader_lower_

private

Definition at line 130 of file teleop_joint_pd_example_controller.h.

◆ dq_max_leader_upper_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_max_leader_upper_

private

Definition at line 131 of file teleop_joint_pd_example_controller.h.

◆ dq_max_lower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_max_lower_

private

Definition at line 108 of file teleop_joint_pd_example_controller.h.

◆ dq_max_upper_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_max_upper_

private

Definition at line 109 of file teleop_joint_pd_example_controller.h.

◆ dq_target_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_target_

private

Definition at line 103 of file teleop_joint_pd_example_controller.h.

◆ dq_target_last_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_target_last_

private

Definition at line 104 of file teleop_joint_pd_example_controller.h.

◆ dq_unsaturated_

Vector7d franka_example_controllers::TeleopJointPDExampleController::dq_unsaturated_

private

Definition at line 102 of file teleop_joint_pd_example_controller.h.

◆ dynamic_reconfigure_mutex_

std::mutex franka_example_controllers::TeleopJointPDExampleController::dynamic_reconfigure_mutex_

private

Definition at line 200 of file teleop_joint_pd_example_controller.h.

◆ dynamic_reconfigure_teleop_param_node_

ros::NodeHandle franka_example_controllers::TeleopJointPDExampleController::dynamic_reconfigure_teleop_param_node_

private

Definition at line 204 of file teleop_joint_pd_example_controller.h.

◆ dynamic_server_teleop_param_

std::unique_ptr<dynamic_reconfigure::Server<franka_example_controllers::teleop_paramConfig> > franka_example_controllers::TeleopJointPDExampleController::dynamic_server_teleop_param_

private

Definition at line 206 of file teleop_joint_pd_example_controller.h.

◆ follower_contact_pub_

realtime_tools::RealtimePublisher<std_msgs::Float64> franka_example_controllers::TeleopJointPDExampleController::follower_contact_pub_

private

Definition at line 213 of file teleop_joint_pd_example_controller.h.

◆ follower_data_

FrankaDataContainer franka_example_controllers::TeleopJointPDExampleController::follower_data_

private

Definition at line 98 of file teleop_joint_pd_example_controller.h.

◆ follower_stiffness_scaling_

double franka_example_controllers::TeleopJointPDExampleController::follower_stiffness_scaling_ {1.0}

private

Definition at line 202 of file teleop_joint_pd_example_controller.h.

◆ follower_target_pub_

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_example_controllers::TeleopJointPDExampleController::follower_target_pub_

private

Definition at line 211 of file teleop_joint_pd_example_controller.h.

◆ force_feedback_guiding_

double franka_example_controllers::TeleopJointPDExampleController::force_feedback_guiding_ {0.95}

private

Definition at line 138 of file teleop_joint_pd_example_controller.h.

◆ force_feedback_idle_

double franka_example_controllers::TeleopJointPDExampleController::force_feedback_idle_ {0.5}

private

Definition at line 137 of file teleop_joint_pd_example_controller.h.

◆ init_leader_q_

Vector7d franka_example_controllers::TeleopJointPDExampleController::init_leader_q_

private

Definition at line 106 of file teleop_joint_pd_example_controller.h.

◆ k_d_follower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_d_follower_

private

Definition at line 124 of file teleop_joint_pd_example_controller.h.

◆ k_d_follower_align_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_d_follower_align_ {(Vector7d() << 4.5, 4.5, 4.5, 4.5, 1.5, 1.5, 1.0).finished()}

private

Definition at line 128 of file teleop_joint_pd_example_controller.h.

◆ k_d_leader_lower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_d_leader_lower_

private

Definition at line 132 of file teleop_joint_pd_example_controller.h.

◆ k_d_leader_upper_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_d_leader_upper_

private

Definition at line 133 of file teleop_joint_pd_example_controller.h.

◆ k_dq_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_dq_

private

Definition at line 135 of file teleop_joint_pd_example_controller.h.

◆ k_p_follower_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_p_follower_

private

Definition at line 123 of file teleop_joint_pd_example_controller.h.

◆ k_p_follower_align_

Vector7d franka_example_controllers::TeleopJointPDExampleController::k_p_follower_align_ {(Vector7d() << 45.0, 45.0, 45.0, 45.0, 18.0, 11.0, 5.0).finished()}

private

Definition at line 126 of file teleop_joint_pd_example_controller.h.

◆ kAlignmentTolerance_

const double franka_example_controllers::TeleopJointPDExampleController::kAlignmentTolerance_ {1e-2}

private

Definition at line 144 of file teleop_joint_pd_example_controller.h.

◆ leader_contact_pub_

realtime_tools::RealtimePublisher<std_msgs::Float64> franka_example_controllers::TeleopJointPDExampleController::leader_contact_pub_

private

Definition at line 212 of file teleop_joint_pd_example_controller.h.

◆ leader_damping_scaling_

double franka_example_controllers::TeleopJointPDExampleController::leader_damping_scaling_ {1.0}

private

Definition at line 201 of file teleop_joint_pd_example_controller.h.

◆ leader_data_

FrankaDataContainer franka_example_controllers::TeleopJointPDExampleController::leader_data_

private

Definition at line 97 of file teleop_joint_pd_example_controller.h.

◆ leader_target_pub_

realtime_tools::RealtimePublisher<sensor_msgs::JointState> franka_example_controllers::TeleopJointPDExampleController::leader_target_pub_

private

Definition at line 210 of file teleop_joint_pd_example_controller.h.

◆ marker_pub_

realtime_tools::RealtimePublisher<visualization_msgs::MarkerArray> franka_example_controllers::TeleopJointPDExampleController::marker_pub_

private

Definition at line 214 of file teleop_joint_pd_example_controller.h.

◆ prev_alignment_error_

Vector7d franka_example_controllers::TeleopJointPDExampleController::prev_alignment_error_

private

Definition at line 121 of file teleop_joint_pd_example_controller.h.

◆ publish_rate_

franka_hw::TriggerRate franka_example_controllers::TeleopJointPDExampleController::publish_rate_ {60.0}

private

Definition at line 209 of file teleop_joint_pd_example_controller.h.

◆ q_target_

Vector7d franka_example_controllers::TeleopJointPDExampleController::q_target_

private

Definition at line 100 of file teleop_joint_pd_example_controller.h.

◆ q_target_last_

Vector7d franka_example_controllers::TeleopJointPDExampleController::q_target_last_

private

Definition at line 101 of file teleop_joint_pd_example_controller.h.

◆ velocity_ramp_increase_

double franka_example_controllers::TeleopJointPDExampleController::velocity_ramp_increase_ {20}

private

Definition at line 113 of file teleop_joint_pd_example_controller.h.

◆ velocity_ramp_shift_

double franka_example_controllers::TeleopJointPDExampleController::velocity_ramp_shift_ {0.25}

private

Definition at line 112 of file teleop_joint_pd_example_controller.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Matrix7d

◆ Vector6d

◆ Vector7d

Member Function Documentation

◆ get1dParam()

◆ get7dParam()

◆ getJointLimits()

◆ getJointParams()

◆ init()

◆ initArm()

◆ leaderDamping()

◆ publishFollowerContact()

◆ publishFollowerTarget()

◆ publishLeaderContact()

◆ publishLeaderTarget()

◆ publishMarkers()

◆ rampParameter()

◆ saturateAndLimit()

◆ starting()

◆ teleopParamCallback()

◆ update()

◆ updateArm()

Member Data Documentation

◆ alignment_error_

◆ current_state_

◆ ddq_max_align_

◆ ddq_max_lower_

◆ ddq_max_upper_

◆ debug_

◆ decrease_factor_

◆ dq_max_align_

◆ dq_max_leader_lower_

◆ dq_max_leader_upper_

◆ dq_max_lower_

◆ dq_max_upper_

◆ dq_target_

◆ dq_target_last_

◆ dq_unsaturated_

◆ dynamic_reconfigure_mutex_

◆ dynamic_reconfigure_teleop_param_node_

◆ dynamic_server_teleop_param_

◆ follower_contact_pub_

◆ follower_data_

◆ follower_stiffness_scaling_

◆ follower_target_pub_

◆ force_feedback_guiding_

◆ force_feedback_idle_

◆ init_leader_q_

◆ k_d_follower_

◆ k_d_follower_align_

◆ k_d_leader_lower_

◆ k_d_leader_upper_

◆ k_dq_

◆ k_p_follower_

◆ k_p_follower_align_

◆ kAlignmentTolerance_

◆ leader_contact_pub_

◆ leader_damping_scaling_

◆ leader_data_

◆ leader_target_pub_

◆ marker_pub_

◆ prev_alignment_error_

◆ publish_rate_

◆ q_target_

◆ q_target_last_

◆ velocity_ramp_increase_

◆ velocity_ramp_shift_