#include <vpROSRobotFrankaCoppeliasim.h>

Inheritance diagram for vpROSRobotFrankaCoppeliasim:

Public Member Functions
void	connect (const std::string &robot_ID="")

void	coppeliasimPauseSimulation (double sleep_ms=1000.)

void	coppeliasimStartSimulation (double sleep_ms=1000.)

void	coppeliasimStopSimulation (double sleep_ms=1000.)

void	coppeliasimTriggerNextStep ()

int	getCoppeliasimSimulationState ()

bool	getCoppeliasimSimulationStepDone ()

double	getCoppeliasimSimulationTime ()

bool	getCoppeliasimSyncMode ()

bool	isConnected () const

void	setCoppeliasimSimulationStepDone (bool simulationStepDone)

void	setCoppeliasimSyncMode (bool enable, double sleep_ms=1000.)

void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &position)

vpRobot::vpRobotStateType	setRobotState (vpRobot::vpRobotStateType newState)

void	setTopic_eMc (const std::string &topic_eMc)

void	setTopic_flMcom (const std::string &topic_flMcom)

void	setTopic_flMe (const std::string &topic_flMe)

void	setTopic_g0 (const std::string &topic_g0)

void	setTopic_toolInertia (const std::string &topic_toolInertia)

void	setTopicJointState (const std::string &topic_jointState)

void	setTopicJointStateCmd (const std::string &topic_jointStateCmd)

void	setTopicRobotStateCmd (const std::string &topic_robotState)

	vpROSRobotFrankaCoppeliasim ()

void	wait (double timestamp_second, double duration_second)

virtual	~vpROSRobotFrankaCoppeliasim ()

Public Member Functions inherited from vpRobotFrankaSim
virtual void	add_tool (const vpHomogeneousMatrix &flMe, const double mL, const vpHomogeneousMatrix &flMcom, const vpMatrix &I_L)

void	get_eJe (const vpColVector &q, vpMatrix &fJe)

void	get_eJe (vpMatrix &eJe_)

vpHomogeneousMatrix	get_eMc () const

void	get_fJe (const vpColVector &q, vpMatrix &fJe)

void	get_fJe (vpMatrix &fJe)

vpHomogeneousMatrix	get_flMcom () const

vpHomogeneousMatrix	get_flMe () const

vpHomogeneousMatrix	get_fMe ()

vpHomogeneousMatrix	get_fMe (const vpColVector &q)

double	get_tool_mass () const

void	getCoriolis (vpColVector &coriolis)

void	getCoriolisMatrix (vpMatrix &coriolis)

virtual void	getForceTorque (const vpRobot::vpControlFrameType frame, vpColVector &force)

void	getFriction (vpColVector &friction)

void	getGravity (vpColVector &gravity)

void	getMass (vpMatrix &mass)

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &position)

vpRobot::vpRobotStateType	getRobotState (void)

virtual void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &d_position)

virtual void	set_eMc (const vpHomogeneousMatrix &eMc)

virtual void	set_flMe (const vpHomogeneousMatrix &flMe)

virtual void	set_g0 (const vpColVector &g0)

virtual void	setForceTorque (const vpRobot::vpControlFrameType frame, const vpColVector &force)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)

void	setVerbose (bool verbose)

	vpRobotFrankaSim ()

virtual	~vpRobotFrankaSim ()

Protected Member Functions
void	callback_eMc (const geometry_msgs::Pose &pose_msg)

void	callback_flMe (const geometry_msgs::Pose &pose_msg)

void	callback_g0 (const geometry_msgs::Vector3 &g0_msg)

void	callback_toolInertia (const geometry_msgs::Inertia &inertia_msg)

void	callbackJointState (const sensor_msgs::JointState &joint_state)

void	callbackSimulationState (const std_msgs::Int32 &msg)

void	callbackSimulationStepDone (const std_msgs::Bool &msg)

void	callbackSimulationTime (const std_msgs::Float32 &msg)

void	positionControlLoop ()

void	readingLoop ()

void	torqueControlLoop ()

void	velocityControlLoop ()

Protected Member Functions inherited from vpRobotFrankaSim
vpColVector	getVelDes ()

vpColVector	solveIK (const vpHomogeneousMatrix &edMw)

Protected Attributes
std::thread	m_acquisitionThread

bool	m_connected

std::thread	m_controlThread

std::atomic_bool	m_ftControlThreadIsRunning

std::atomic_bool	m_ftControlThreadStopAsked

bool	m_overwrite_flMe

bool	m_overwrite_toolInertia

std::atomic_bool	m_posControlLock

std::atomic_bool	m_posControlNewCmd

std::atomic_bool	m_posControlThreadIsRunning

std::atomic_bool	m_posControlThreadStopAsked

ros::Publisher	m_pub_enableSyncMode

ros::Publisher	m_pub_jointStateCmd

ros::Publisher	m_pub_pauseSimulation

ros::Publisher	m_pub_robotStateCmd

ros::Publisher	m_pub_startSimulation

ros::Publisher	m_pub_stopSimulation

ros::Publisher	m_pub_triggerNextStep

int	m_simulationState

bool	m_simulationStepDone

float	m_simulationTime

ros::Subscriber	m_sub_coppeliasim_eMc

ros::Subscriber	m_sub_coppeliasim_flMe

ros::Subscriber	m_sub_coppeliasim_g0

ros::Subscriber	m_sub_coppeliasim_jointState

ros::Subscriber	m_sub_coppeliasim_simulationState

ros::Subscriber	m_sub_coppeliasim_simulationStepDone

ros::Subscriber	m_sub_coppeliasim_simulationTime

ros::Subscriber	m_sub_coppeliasim_toolInertia

bool	m_syncModeEnabled

std::string	m_topic_eMc

std::string	m_topic_flMcom

std::string	m_topic_flMe

std::string	m_topic_g0

std::string	m_topic_jointState

std::string	m_topic_jointStateCmd

std::string	m_topic_robotStateCmd

std::string	m_topic_toolInertia

std::atomic_bool	m_velControlThreadIsRunning

std::atomic_bool	m_velControlThreadStopAsked

Protected Attributes inherited from vpRobotFrankaSim
bool	m_camMounted

KDL::Chain	m_chain_kdl

KDL::ChainIkSolverVel_pinv *	m_diffIkSolver_kdl

vpColVector	m_dq

vpColVector	m_dq_des

vpColVector	m_dq_des_filt

KDL::JntArray	m_dq_des_kdl

vpHomogeneousMatrix	m_eMc

vpVelocityTwistMatrix	m_eVc

KDL::ChainFkSolverPos_recursive *	m_fksolver_kdl

vpHomogeneousMatrix	m_flMcom

vpHomogeneousMatrix	m_flMe

vpColVector	m_g0

KDL::ChainIkSolverPos_NR_JL *	m_iksolver_JL_kdl

vpMatrix	m_Il

KDL::ChainJntToJacSolver *	m_jacobianSolver_kdl

double	m_mL

std::mutex	m_mutex

vpColVector	m_q

vpColVector	m_q_des

KDL::JntArray	m_q_kdl

KDL::JntArray	m_q_max_kdl

KDL::JntArray	m_q_min_kdl

vpRobot::vpRobotStateType	m_stateRobot

vpColVector	m_tau_J

vpColVector	m_tau_J_des

vpColVector	m_tau_J_des_filt

bool	m_toolMounted

vpColVector	m_v_cart_des

bool	m_verbose

Detailed Description

This class does the connexion using ROS 1 between Franka robot simulator implemented in vpRobotFrankaSim and Coppeliasim simulator.

It subscribes to default topics emited and updated on Coppeliasim side:

/coppeliasim/franka/joint_state topic that contains the robot joint state as sensor_msgs::JointState message. To change this topic name use setTopicJointState().
/coppeliasim/franka/eMc that contains the camera extrinsic homogeneous transformation from end-effector to camera frame as a geometry_msgs::Pose message.To change this topic name use setTopic_eMc().

Given the type of command to apply to the simulated robot, it published default topics that are taken into account by Coppeliasim to update the robot state:

/fakeFCI/joint_state topic that contains the command to apply to the robot as a sensor_msgs::JointState message. To change this topic name use setTopicJointStateCmd().
/fakeFCI/robot_state topic that contains the kind of robot control as a std_msgs::Int32 message. The values of this message should match the one in vpRobot::vpRobotStateType. To change this topic name use setTopicRobotStateCmd().

Note that changing topic names should be achieved before calling connect().

vpROSRobotFrankaCoppeliasim robot;
robot.setTopicJointState("/coppeliasim/franka/joint_state");
robot.setTopic_eMc("/coppeliasim/franka/eMc");
robot.setTopicJointStateCmd("/fakeFCI/joint_state");
robot.setTopicRobotStateCmd("/fakeFCI/robot_state");
robot.connect();

If you decide to change the topic names, be aware that you should also change their names in Coppeliasim scene lua script.

Examples: test-vel.cpp, tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 87 of file vpROSRobotFrankaCoppeliasim.h.

Constructor & Destructor Documentation

◆ vpROSRobotFrankaCoppeliasim()

vpROSRobotFrankaCoppeliasim::vpROSRobotFrankaCoppeliasim ( )

Default constructor.

Definition at line 52 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ ~vpROSRobotFrankaCoppeliasim()

vpROSRobotFrankaCoppeliasim::~vpROSRobotFrankaCoppeliasim ( )

virtual

Destructor.

Definition at line 98 of file vpROSRobotFrankaCoppeliasim.cpp.

Member Function Documentation

◆ callback_eMc()

void vpROSRobotFrankaCoppeliasim::callback_eMc ( const geometry_msgs::Pose & pose_msg )

protected

Callback that updates camera extrinsics with the transformation considered on Coppeliasim side.

Parameters

[in] pose_msg : Message associated to the topic set by setTopic_eMc() that contains the homogeneous transformation between end-effector and camera frame.

Definition at line 434 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callback_flMe()

void vpROSRobotFrankaCoppeliasim::callback_flMe ( const geometry_msgs::Pose & pose_msg )

protected

Callback that updates end-effector extrinsics w.r.t. the robot flange with the transformation considered on Coppeliasim side.

Parameters

[in] pose_msg : Message associated to the topic set by setTopic_flMe() that contains the homogeneous transformation between end-effector and flange frame. This callback works jointly with the callback_toolInertia to automatically retrieve the kinematic and dynamic parameters of the tool.

Definition at line 451 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callback_g0()

void vpROSRobotFrankaCoppeliasim::callback_g0 ( const geometry_msgs::Vector3 & g0_msg )

protected

Callback that updates the gravitational acceleration vector as perceived at the robot's base considered on Coppeliasim side.

Parameters

[in] g0_msg : Message associated to the topic set by setTopic_g0() the absolute acceleration vector in base frame.

Definition at line 418 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callback_toolInertia()

void vpROSRobotFrankaCoppeliasim::callback_toolInertia ( const geometry_msgs::Inertia & inertia_msg )

protected

Callback that updates the tool inertial parameters.

Parameters

[in] inertia_msg : Message associated to the topic set by setTopic_toolInertia() that contains the inertial parameters of the mounted tool as considered on Coppeliasim side. The inertia tensor must be specified in flange frame as well as the center of mass. This callback works jointly with the callback_flMe to automatically retrieve the kinematic and dynamic parameters of the tool.

Definition at line 483 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callbackJointState()

void vpROSRobotFrankaCoppeliasim::callbackJointState ( const sensor_msgs::JointState & joint_state )

protected

Callback that updates robot joint state (joint position, joint velocity, joint torque) with the values updated on Coppeliasim side.

Parameters

[in] joint_state : Joint state message associated to the topic set by setTopicJointState().

Definition at line 400 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callbackSimulationState()

void vpROSRobotFrankaCoppeliasim::callbackSimulationState ( const std_msgs::Int32 & msg )

protected

Callback that allows to update the Coppeliasim simulation state.

Parameters

[in] msg : Simulation state message.

Definition at line 353 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callbackSimulationStepDone()

void vpROSRobotFrankaCoppeliasim::callbackSimulationStepDone ( const std_msgs::Bool & msg )

protected

Callback that allows to know when a simulation step is done on Coppeliasim side.

Parameters

[in] msg : Simulation step done message send by Coppeliasim

Definition at line 299 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ callbackSimulationTime()

void vpROSRobotFrankaCoppeliasim::callbackSimulationTime ( const std_msgs::Float32 & msg )

protected

Callback that allows to update the Coppeliasim simulation time.

Parameters

[in] msg : Simulation time message.

Definition at line 332 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ connect()

void vpROSRobotFrankaCoppeliasim::connect ( const std::string & robot_ID = "" )

Connect to Coppeliasim simulator by subscribing to the requested topics.

It is possible to change the default topic names, before calling this function.

See also: setTopicJointState(), setTopic_eMc(), setTopicJointStateCmd(), setTopicRobotStateCmdCmd()

Examples: test-vel.cpp, tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 132 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ coppeliasimPauseSimulation()

void vpROSRobotFrankaCoppeliasim::coppeliasimPauseSimulation ( double sleep_ms = 1000. )

Pause Coppeliasim simulation by publishing a std_msgs::Bool message on /pauseSimulation topic.

Parameters

[in] sleep_ms : Sleeping time in [ms] added after publishing the message to ensure that it will be taken into account by Coppeliasim.

See also: coppeliasimStartSimulation(), coppeliasimStopSimulation(), getCoppeliasimSimulationState()

Definition at line 229 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ coppeliasimStartSimulation()

void vpROSRobotFrankaCoppeliasim::coppeliasimStartSimulation ( double sleep_ms = 1000. )

Start Coppeliasim simulation by publishing a a std_msgs::Bool message on /startSimulation topic.

Parameters

[in] sleep_ms : Sleeping time in [ms] added after publishing the message to ensure that it will be taken into account by Coppeliasim.

See also: coppeliasimPauseSimulation(), coppeliasimStopSimulation(), getCoppeliasimSimulationState()

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 248 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ coppeliasimStopSimulation()

void vpROSRobotFrankaCoppeliasim::coppeliasimStopSimulation ( double sleep_ms = 1000. )

Stop Coppeliasim simulation by publishing a std_msgs::Bool message on /stopSimulation topic.

Parameters

[in] sleep_ms : Sleeping time in [ms] added after publishing the message to ensure that it will be taken into account by Coppeliasim.

See also: coppeliasimStartSimulation(), coppeliasimPauseSimulation(), getCoppeliasimSimulationState()

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 268 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ coppeliasimTriggerNextStep()

void vpROSRobotFrankaCoppeliasim::coppeliasimTriggerNextStep ( )

Trigger Coppeliasim next simulation step by publishing a std_msgs::Bool message on /triggerNextStep topic, while in the synchronous simulation mode.

Note: It is not useful to call this method when Coppeliasim synchronous mode is not set using setCoppeliasimSyncMode().

See also: setCoppeliasimSyncMode()

Definition at line 287 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ getCoppeliasimSimulationState()

int vpROSRobotFrankaCoppeliasim::getCoppeliasimSimulationState ( )

Return Coppeliasim simulation state. 0 indicates that the simulation is stopped, 1 that it is running and 2 that it is paused.

See also: coppeliasimStartSimulation(), coppeliasimPauseSimulation(), coppeliasimStopSimulation()

Definition at line 367 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ getCoppeliasimSimulationStepDone()

bool vpROSRobotFrankaCoppeliasim::getCoppeliasimSimulationStepDone ( )

Return true when a simulation step is done on Coppeliasim side, false otherwise.

Definition at line 309 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ getCoppeliasimSimulationTime()

double vpROSRobotFrankaCoppeliasim::getCoppeliasimSimulationTime ( )

Return Coppeliasim simulation time.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 342 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ getCoppeliasimSyncMode()

bool vpROSRobotFrankaCoppeliasim::getCoppeliasimSyncMode ( )

inline

Get Coppeliasim synchronous mode.

Returns: true when synchronous mode is enable, false otherwise.

See also: setCoppeliasimSyncMode()

Definition at line 110 of file vpROSRobotFrankaCoppeliasim.h.

◆ isConnected()

bool vpROSRobotFrankaCoppeliasim::isConnected ( ) const

inline

Return true when ROS connexion with Coppeliasim is established.

Definition at line 115 of file vpROSRobotFrankaCoppeliasim.h.

◆ positionControlLoop()

void vpROSRobotFrankaCoppeliasim::positionControlLoop ( )

protected

Infinite loop launched when the control is done in position.

Definition at line 527 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ readingLoop()

void vpROSRobotFrankaCoppeliasim::readingLoop ( )

protected

Subscribes to topics updated on Coppeliasim side and runs an infinite loop that updates the robot state.

See also: setTopicJointState(), setTopic_eMc()

Definition at line 380 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ setCoppeliasimSimulationStepDone()

void vpROSRobotFrankaCoppeliasim::setCoppeliasimSimulationStepDone ( bool simulationStepDone )

Set Coppeliasim simulation step done flag.

Parameters

[in] simulationStepDone : True to indicate that the simmulation step is done, false otherwise.

Definition at line 321 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ setCoppeliasimSyncMode()

void vpROSRobotFrankaCoppeliasim::setCoppeliasimSyncMode	(	bool	enable,
		double	sleep_ms = `1000.`
	)

Enable/disable Coppeliasim synchronous simulation mode by publishing a std_msgs::Bool message on /enableSyncMode topic.

Parameters

[in]	enable	: Set true to enable synchronous simulation mode, false otherwise. When synchronous simulation mode is enable, you need to call coppeliasimTriggerNextStep() to run a new simulation step.
[in]	sleep_ms	: Sleeping time in [ms] added after publishing the message to ensure that it will be taken into account by Coppeliasim.

See also: coppeliasimTriggerNextStep(), getCoppeliasimSybcMode()

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 209 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ setPosition()

void vpROSRobotFrankaCoppeliasim::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	position
	)

virtual

Set robot position. This function is blocking and returns only when the desired position is reached.

Parameters

[in]	frame	: Control frame to consider.
[in]	position	: Position to reach. When `frame` is set to vpRobot::JOINT_STATE, `position` is a 7-dim vector that contains joint positions in [rad]. When `frame` is set to vpRobot::END_EFFECTOR_FRAME, `position` is a 6-dim vector containing the pose of the end-effector in the robot base frame. This pose contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad]. When `frame` is set to vpRobot::CAMERA_FRAME, `position` is a 6-dim vector containing the pose of the camera in the robot base frame. This pose contains the 3 translations values [tx, ty, tz] followed by the 3 rotations using the axis-angle representation [tux, tuy, tyz] with values in [rad].

Reimplemented from vpRobotFrankaSim.

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 947 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ setRobotState()

vpRobot::vpRobotStateType vpROSRobotFrankaCoppeliasim::setRobotState ( vpRobot::vpRobotStateType newState )

Change robot state.

Parameters

newState : New robot state.

Returns: The new robot state.

Examples: test-vel.cpp, tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 764 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ setTopic_eMc()

void vpROSRobotFrankaCoppeliasim::setTopic_eMc ( const std::string & topic_eMc )

inline

Set topic name that contains eMc corresponding to the end-effector to camera transformation.

Parameters

topic_eMc : Topic name.

Examples: test-vel.cpp.

Definition at line 171 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopic_flMcom()

void vpROSRobotFrankaCoppeliasim::setTopic_flMcom ( const std::string & topic_flMcom )

inline

Set topic name that contains flMcom corresponding to the flange to Center-of-Mass transformation.

Parameters

topic_flMcom : Topic name.

Definition at line 187 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopic_flMe()

void vpROSRobotFrankaCoppeliasim::setTopic_flMe ( const std::string & topic_flMe )

inline

Set topic name that contains flMe corresponding to the flange to end-effector transformation.

Parameters

topic_flMe : Topic name.

Definition at line 179 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopic_g0()

void vpROSRobotFrankaCoppeliasim::setTopic_g0 ( const std::string & topic_g0 )

inline

Set topic name that contains g0 corresponding to the absolute acceleration vector at the robot's base.

Parameters

topic_g0 : Topic name.

Definition at line 163 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopic_toolInertia()

void vpROSRobotFrankaCoppeliasim::setTopic_toolInertia ( const std::string & topic_toolInertia )

inline

Set topic name that contains the Inertia parameters of the tool.

Parameters

topic_toolInertia : Topic name.

Definition at line 194 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopicJointState()

void vpROSRobotFrankaCoppeliasim::setTopicJointState ( const std::string & topic_jointState )

inline

Set topic name that contains the robot state including position, velocity and effort for all the joints.

Parameters

topic_jointState : Topic name.

Examples: test-vel.cpp.

Definition at line 130 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopicJointStateCmd()

void vpROSRobotFrankaCoppeliasim::setTopicJointStateCmd ( const std::string & topic_jointStateCmd )

inline

Name of the topic used to public joint state command that has to be applied to the robot.

Parameters

topic_jointStateCmd : Topic name.

Definition at line 141 of file vpROSRobotFrankaCoppeliasim.h.

◆ setTopicRobotStateCmd()

void vpROSRobotFrankaCoppeliasim::setTopicRobotStateCmd ( const std::string & topic_robotState )

inline

Set topic name that contains the robot controller state (stopped, position, velocity, force/torque).

Parameters

topic_robotState : Topic name.

Definition at line 152 of file vpROSRobotFrankaCoppeliasim.h.

◆ torqueControlLoop()

void vpROSRobotFrankaCoppeliasim::torqueControlLoop ( )

protected

Infinite loop launched when the control is done in joint torque.

Definition at line 680 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ velocityControlLoop()

void vpROSRobotFrankaCoppeliasim::velocityControlLoop ( )

protected

Infinite loop launched when the control is done in joint velocity.

Definition at line 619 of file vpROSRobotFrankaCoppeliasim.cpp.

◆ wait()

void vpROSRobotFrankaCoppeliasim::wait	(	double	timestamp_second,
		double	duration_second
	)

Wait a given time in [s].

Parameters

timestamp_second	: Simulation time in [s] used to start the chrono.
duration_second	: Wait the given duration time in [s] since chrono is started

Examples: tutorial-franka-coppeliasim-cartesian-impedance-control.cpp, tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-joint-impedance-control.cpp, and tutorial-franka-coppeliasim-pbvs-apriltag.cpp.

Definition at line 976 of file vpROSRobotFrankaCoppeliasim.cpp.

Member Data Documentation

◆ m_acquisitionThread

std::thread vpROSRobotFrankaCoppeliasim::m_acquisitionThread

protected

Definition at line 217 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_connected

bool vpROSRobotFrankaCoppeliasim::m_connected

protected

Definition at line 230 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_controlThread

std::thread vpROSRobotFrankaCoppeliasim::m_controlThread

protected

Definition at line 216 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_ftControlThreadIsRunning

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_ftControlThreadIsRunning

protected

Definition at line 243 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_ftControlThreadStopAsked

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_ftControlThreadStopAsked

protected

Definition at line 244 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_overwrite_flMe

bool vpROSRobotFrankaCoppeliasim::m_overwrite_flMe

protected

Definition at line 273 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_overwrite_toolInertia

bool vpROSRobotFrankaCoppeliasim::m_overwrite_toolInertia

protected

Definition at line 271 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_posControlLock

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_posControlLock

protected

Definition at line 235 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_posControlNewCmd

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_posControlNewCmd

protected

Definition at line 236 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_posControlThreadIsRunning

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_posControlThreadIsRunning

protected

Definition at line 233 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_posControlThreadStopAsked

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_posControlThreadStopAsked

protected

Definition at line 234 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_enableSyncMode

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_enableSyncMode

protected

Definition at line 253 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_jointStateCmd

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_jointStateCmd

protected

Definition at line 247 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_pauseSimulation

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_pauseSimulation

protected

Definition at line 250 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_robotStateCmd

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_robotStateCmd

protected

Definition at line 248 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_startSimulation

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_startSimulation

protected

Definition at line 249 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_stopSimulation

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_stopSimulation

protected

Definition at line 251 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_pub_triggerNextStep

ros::Publisher vpROSRobotFrankaCoppeliasim::m_pub_triggerNextStep

protected

Definition at line 252 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_simulationState

int vpROSRobotFrankaCoppeliasim::m_simulationState

protected

Definition at line 269 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_simulationStepDone

bool vpROSRobotFrankaCoppeliasim::m_simulationStepDone

protected

Definition at line 266 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_simulationTime

float vpROSRobotFrankaCoppeliasim::m_simulationTime

protected

Definition at line 267 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_eMc

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_eMc

protected

Definition at line 258 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_flMe

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_flMe

protected

Definition at line 259 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_g0

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_g0

protected

Definition at line 257 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_jointState

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_jointState

protected

Definition at line 256 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_simulationState

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_simulationState

protected

Definition at line 263 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_simulationStepDone

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_simulationStepDone

protected

Definition at line 261 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_simulationTime

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_simulationTime

protected

Definition at line 262 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_sub_coppeliasim_toolInertia

ros::Subscriber vpROSRobotFrankaCoppeliasim::m_sub_coppeliasim_toolInertia

protected

Definition at line 260 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_syncModeEnabled

bool vpROSRobotFrankaCoppeliasim::m_syncModeEnabled

protected

Definition at line 268 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_eMc

std::string vpROSRobotFrankaCoppeliasim::m_topic_eMc

protected

Definition at line 222 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_flMcom

std::string vpROSRobotFrankaCoppeliasim::m_topic_flMcom

protected

Definition at line 224 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_flMe

std::string vpROSRobotFrankaCoppeliasim::m_topic_flMe

protected

Definition at line 223 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_g0

std::string vpROSRobotFrankaCoppeliasim::m_topic_g0

protected

Definition at line 221 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_jointState

std::string vpROSRobotFrankaCoppeliasim::m_topic_jointState

protected

Definition at line 220 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_jointStateCmd

std::string vpROSRobotFrankaCoppeliasim::m_topic_jointStateCmd

protected

Definition at line 227 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_robotStateCmd

std::string vpROSRobotFrankaCoppeliasim::m_topic_robotStateCmd

protected

Definition at line 228 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_topic_toolInertia

std::string vpROSRobotFrankaCoppeliasim::m_topic_toolInertia

protected

Definition at line 225 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_velControlThreadIsRunning

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_velControlThreadIsRunning

protected

Definition at line 239 of file vpROSRobotFrankaCoppeliasim.h.

◆ m_velControlThreadStopAsked

std::atomic_bool vpROSRobotFrankaCoppeliasim::m_velControlThreadStopAsked

protected

Definition at line 240 of file vpROSRobotFrankaCoppeliasim.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpROSRobotFrankaCoppeliasim()

◆ ~vpROSRobotFrankaCoppeliasim()

Member Function Documentation

◆ callback_eMc()

◆ callback_flMe()

◆ callback_g0()

◆ callback_toolInertia()

◆ callbackJointState()

◆ callbackSimulationState()

◆ callbackSimulationStepDone()

◆ callbackSimulationTime()

◆ connect()

◆ coppeliasimPauseSimulation()

◆ coppeliasimStartSimulation()

◆ coppeliasimStopSimulation()

◆ coppeliasimTriggerNextStep()

◆ getCoppeliasimSimulationState()

◆ getCoppeliasimSimulationStepDone()

◆ getCoppeliasimSimulationTime()

◆ getCoppeliasimSyncMode()

◆ isConnected()

◆ positionControlLoop()

◆ readingLoop()

◆ setCoppeliasimSimulationStepDone()

◆ setCoppeliasimSyncMode()

◆ setPosition()

◆ setRobotState()

◆ setTopic_eMc()

◆ setTopic_flMcom()

◆ setTopic_flMe()

◆ setTopic_g0()

◆ setTopic_toolInertia()

◆ setTopicJointState()

◆ setTopicJointStateCmd()

◆ setTopicRobotStateCmd()

◆ torqueControlLoop()

◆ velocityControlLoop()

◆ wait()

Member Data Documentation

◆ m_acquisitionThread

◆ m_connected

◆ m_controlThread

◆ m_ftControlThreadIsRunning

◆ m_ftControlThreadStopAsked

◆ m_overwrite_flMe

◆ m_overwrite_toolInertia

◆ m_posControlLock

◆ m_posControlNewCmd

◆ m_posControlThreadIsRunning

◆ m_posControlThreadStopAsked

◆ m_pub_enableSyncMode

◆ m_pub_jointStateCmd

◆ m_pub_pauseSimulation

◆ m_pub_robotStateCmd

◆ m_pub_startSimulation

◆ m_pub_stopSimulation

◆ m_pub_triggerNextStep

◆ m_simulationState

◆ m_simulationStepDone

◆ m_simulationTime

◆ m_sub_coppeliasim_eMc

◆ m_sub_coppeliasim_flMe

◆ m_sub_coppeliasim_g0

◆ m_sub_coppeliasim_jointState

◆ m_sub_coppeliasim_simulationState

◆ m_sub_coppeliasim_simulationStepDone

◆ m_sub_coppeliasim_simulationTime

◆ m_sub_coppeliasim_toolInertia

◆ m_syncModeEnabled

◆ m_topic_eMc

◆ m_topic_flMcom

◆ m_topic_flMe

◆ m_topic_g0

◆ m_topic_jointState

◆ m_topic_jointStateCmd