franka_gazebo Namespace Reference

Classes
class	ControllerVerifier
	Can be used to check controllers in franka_gazebo. More...
struct	ErrorRecovery
class	FrankaGripperSim
	Simulate the franka_gripper_node. More...
class	FrankaHWSim
	A custom implementation of a gazebo_ros_control plugin, which is able to simulate franka interfaces in Gazebo. More...
struct	Idle
struct	Joint
	A data container holding all relevant information about a robotic joint. More...
class	ModelKDL
	Calculates poses of links and dynamic properties of the robot. More...
struct	Move
struct	StateMachine
struct	SwitchControl
struct	UserStop
struct	UserStopped

Typedefs
using	JointMap = std::map< std::string, std::shared_ptr< Joint > >

Enumerations
enum	ControlMethod { EFFORT, POSITION, VELOCITY }
	Specifies the current control method of the joint. More...

Variables
auto	contains
auto	idle = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kIdle; }
auto	isPressed = [](const UserStop& event) { return event.pressed; }
auto	isReleased = [](const UserStop& event, const JointMap& joints) { return not event.pressed; }
auto	isStarting
auto	isStopping
const double	kDefaultGripperActionSpeed = 0.1
	How fast shall the gripper execute gripper command actions? [m/s]. More...
const double	kDefaultGripperActionWidthTolerance = 0.005
	When width between fingers is below this, the gripper action succeeds [m]. More...
const double	kDefaultMoveWidthTolerance = 0.001
	When width between fingers is below this, the move action succeeds [m]. More...
const double	kDefaultTauExtLowpassFilter = 1.0
const int	kGraspConsecutiveSamples = 10
	How many times the speed has to drop below resting threshold before the grasping will be checked. More...
const double	kGraspRestingThreshold = 0.003
	Below which speed the target width should be checked to abort or succeed the grasp action [m/s]. More...
const double	kMaxFingerWidth = 0.08
auto	start = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kMove; }
auto	stop

Typedef Documentation

JointMap

using franka_gazebo::JointMap = typedef std::map<std::string, std::shared_ptr<Joint> >

Definition at line 14 of file statemachine.h.

Enumeration Type Documentation

ControlMethod

enum franka_gazebo::ControlMethod

Specifies the current control method of the joint.

Enumerator
EFFORT
POSITION
VELOCITY

Definition at line 17 of file joint.h.

Variable Documentation

contains

auto franka_gazebo::contains

Initial value:

= [](const auto& haystack, const auto& needle) {
  return haystack.find(needle) != std::string::npos;
}

Definition at line 29 of file statemachine.h.

idle

auto franka_gazebo::idle = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kIdle; }

Definition at line 51 of file statemachine.h.

isPressed

auto franka_gazebo::isPressed = [](const UserStop& event) { return event.pressed; }

Definition at line 32 of file statemachine.h.

isReleased

auto franka_gazebo::isReleased = [](const UserStop& event, const JointMap& joints) { return not event.pressed; }

Definition at line 33 of file statemachine.h.

isStarting

auto franka_gazebo::isStarting

Initial value:

= [](const SwitchControl& event, const JointMap& joints) {
  for (auto& joint : joints) {
    if (contains(joint.first, "_finger_joint")) {
      continue;
    }
    if (joint.second->control_method) {
      return true;
    }
  }
  return false;
}

Definition at line 34 of file statemachine.h.

isStopping

auto franka_gazebo::isStopping

Initial value:

= [](const SwitchControl& event, const JointMap& joints) {
  return not isStarting(event, joints);
}

Definition at line 45 of file statemachine.h.

kDefaultGripperActionSpeed

const double franka_gazebo::kDefaultGripperActionSpeed = 0.1

How fast shall the gripper execute gripper command actions? [m/s].

Definition at line 33 of file franka_gripper_sim.h.

kDefaultGripperActionWidthTolerance

const double franka_gazebo::kDefaultGripperActionWidthTolerance = 0.005

When width between fingers is below this, the gripper action succeeds [m].

Definition at line 30 of file franka_gripper_sim.h.

kDefaultMoveWidthTolerance

const double franka_gazebo::kDefaultMoveWidthTolerance = 0.001

When width between fingers is below this, the move action succeeds [m].

Definition at line 27 of file franka_gripper_sim.h.

kDefaultTauExtLowpassFilter

const double franka_gazebo::kDefaultTauExtLowpassFilter = 1.0

Definition at line 30 of file franka_hw_sim.h.

kGraspConsecutiveSamples

const int franka_gazebo::kGraspConsecutiveSamples = 10

How many times the speed has to drop below resting threshold before the grasping will be checked.

Definition at line 39 of file franka_gripper_sim.h.

kGraspRestingThreshold

const double franka_gazebo::kGraspRestingThreshold = 0.003

Below which speed the target width should be checked to abort or succeed the grasp action [m/s].

Definition at line 36 of file franka_gripper_sim.h.

kMaxFingerWidth

const double franka_gazebo::kMaxFingerWidth = 0.08

Definition at line 24 of file franka_gripper_sim.h.

start

auto franka_gazebo::start = [](franka::RobotState& state) { state.robot_mode = franka::RobotMode::kMove; }

Definition at line 50 of file statemachine.h.

stop

auto franka_gazebo::stop

Initial value:

= [](franka::RobotState& state, JointMap& joints) {
  ROS_WARN("User stop pressed, stopping robot");
  state.robot_mode = franka::RobotMode::kUserStopped;
  state.q_d = state.q;
  state.dq_d = {0};
  state.ddq_d = {0};
 
  for (auto& joint : joints) {
    if (contains(joint.first, "_finger_joint")) {
      continue;
    }
    joint.second->stop_position = joint.second->position;
    joint.second->desired_position = joint.second->position;
    joint.second->desired_velocity = 0;
  }
}

Definition at line 52 of file statemachine.h.