This class wraps the functionality of libfranka for controlling Panda robots into the ros_control framework. More...

#include <franka_hw.h>

Inheritance diagram for franka_hw::FrankaHW:

[legend]

Classes
struct	CollisionConfig

Public Member Functions
virtual bool	checkForConflict (const std::list< hardware_interface::ControllerInfo > &info) const override
	Checks whether a requested controller can be run, based on the resources and interfaces it claims. More...

virtual void	checkJointLimits ()
	Checks the proximity of each joint to its joint position limits and prints a warning whenever a joint is close to a limit. More...

virtual void	connect ()
	Create a libfranka robot, connecting the hardware class to the master controller. More...

virtual bool	connected ()
	Checks whether the hardware class is connected to a robot. More...

virtual void	control (const std::function< bool(const ros::Time &, const ros::Duration &)> &ros_callback)
	Runs the currently active controller in a realtime loop. More...

virtual bool	controllerActive () const noexcept
	Indicates whether there is an active controller. More...

virtual bool	disconnect ()
	Tries to disconnect the hardware class from the robot, freeing it for e.g. More...

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &, const std::list< hardware_interface::ControllerInfo > &) override
	Performs controller switching (real-time capable). More...

virtual void	enforceLimits (const ros::Duration &period)
	Enforces limits on position, velocity, and torque level. More...

	FrankaHW ()
	Default constructor. More...

virtual std::array< double, 7 >	getJointEffortCommand () const noexcept
	Gets the current joint torque command. More...

virtual std::array< double, 7 >	getJointPositionCommand () const noexcept
	Gets the current joint position command. More...

virtual std::array< double, 7 >	getJointVelocityCommand () const noexcept
	Gets the current joint velocity command. More...

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	Initializes the FrankaHW class to be fully operational. More...

virtual bool	initParameters (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
	Reads the parameterization of the hardware class from the ROS parameter server (e.g. More...

virtual void	initROSInterfaces (ros::NodeHandle &robot_hw_nh)
	Initializes the class in terms of ros_control interfaces. More...

virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) override
	Prepares switching between controllers (not real-time capable). More...

virtual void	read (const ros::Time &time, const ros::Duration &period) override
	Reads data from the franka robot. More...

virtual void	reset ()
	Resets the limit interfaces. More...

virtual franka::Robot &	robot () const
	Getter for the libfranka robot instance. More...

virtual std::mutex &	robotMutex ()
	Getter for the mutex protecting access to the libfranka::robot class. More...

virtual void	setupParameterCallbacks (ros::NodeHandle &robot_hw_nh)
	Initializes the callbacks for on-the-fly reading the parameters for rate limiting, internal controllers and cutoff frequency. More...

virtual void	update (const franka::RobotState &robot_state)
	Updates the controller interfaces from the given robot state. More...

virtual void	write (const ros::Time &time, const ros::Duration &period) override
	Writes data to the franka robot. More...

virtual	~FrankaHW () override=default

Public Member Functions inherited from hardware_interface::RobotHW
virtual SwitchState	switchResult () const

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual	~RobotHW ()=default

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Static Public Member Functions
static bool	commandHasNaN (const franka::CartesianPose &command)
	Checks a command for NaN values. More...

static bool	commandHasNaN (const franka::CartesianVelocities &command)
	Checks a command for NaN values. More...

static bool	commandHasNaN (const franka::JointPositions &command)
	Checks a command for NaN values. More...

static bool	commandHasNaN (const franka::JointVelocities &command)
	Checks a command for NaN values. More...

static bool	commandHasNaN (const franka::Torques &command)
	Checks a command for NaN values. More...

static std::vector< double >	getCollisionThresholds (const std::string &name, const ros::NodeHandle &robot_hw_nh, const std::vector< double > &defaults)
	Parses a set of collision thresholds from the parameter server. More...

Protected Types
using	Callback = std::function< bool(const franka::RobotState &, franka::Duration)>

Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Member Functions
template<typename T >
T	controlCallback (const T &command, Callback ros_callback, const franka::RobotState &robot_state, franka::Duration time_step)
	Callback for the libfranka control loop. More...

virtual void	initRobot ()
	Uses the robot_ip_ to connect to the robot via libfranka and loads the libfranka model. More...

virtual bool	setRunFunction (const ControlMode &requested_control_mode, bool limit_rate, double cutoff_frequency, franka::ControllerMode internal_controller)
	Configures the run function which is used as libfranka control callback based on the requested control mode. More...

virtual void	setupFrankaCartesianPoseInterface (franka::CartesianPose &pose_cartesian_command)
	Configures and registers the command interface for Cartesian poses in ros_control. More...

virtual void	setupFrankaCartesianVelocityInterface (franka::CartesianVelocities &velocity_cartesian_command)
	Configures and registers the command interface for Cartesian velocities in ros_control. More...

virtual void	setupFrankaModelInterface (franka::RobotState &robot_state)
	Configures and registers the model interface offering kinematics and dynamics in ros_control. More...

virtual void	setupFrankaStateInterface (franka::RobotState &robot_state)
	Configures and registers the state interface offering the full franka::RobotState in ros_control. More...

template<typename T >
void	setupJointCommandInterface (std::array< double, 7 > &command, franka::RobotState &state, bool use_q_d, T &interface)
	Configures and registers a joint command interface for positions velocities or efforts in ros_control. More...

virtual void	setupJointStateInterface (franka::RobotState &robot_state)
	Configures and registers the joint state interface in ros_control. More...

template<typename T >
void	setupLimitInterface (joint_limits_interface::JointLimitsInterface< T > &limit_interface, hardware_interface::JointCommandInterface &command_interface)
	Configures a limit interface to enforce limits on effort, velocity or position level on joint commands. More...

Static Protected Member Functions
template<size_t size>
static bool	arrayHasNaN (const std::array< double, size > &array)
	Checks whether an array of doubles contains NaN values. More...

Protected Attributes
std::string	arm_id_

CollisionConfig	collision_config_

std::atomic_bool	controller_active_ {false}

ControlMode	current_control_mode_ = ControlMode::None

franka::Torques	effort_joint_command_libfranka_

franka::Torques	effort_joint_command_ros_

hardware_interface::EffortJointInterface	effort_joint_interface_ {}

joint_limits_interface::EffortJointSoftLimitsInterface	effort_joint_limit_interface_ {}

FrankaModelInterface	franka_model_interface_ {}

FrankaPoseCartesianInterface	franka_pose_cartesian_interface_ {}

FrankaStateInterface	franka_state_interface_ {}

FrankaVelocityCartesianInterface	franka_velocity_cartesian_interface_ {}

std::function< double()>	get_cutoff_frequency_

std::function< franka::ControllerMode()>	get_internal_controller_

std::function< bool()>	get_limit_rate_

bool	initialized_ {false}

double	joint_limit_warning_threshold_ {0.1}

std::array< std::string, 7 >	joint_names_

hardware_interface::JointStateInterface	joint_state_interface_ {}

std::mutex	libfranka_cmd_mutex_

std::mutex	libfranka_state_mutex_

std::unique_ptr< franka_hw::ModelBase >	model_

franka::CartesianPose	pose_cartesian_command_libfranka_

franka::CartesianPose	pose_cartesian_command_ros_

franka::JointPositions	position_joint_command_libfranka_

franka::JointPositions	position_joint_command_ros_

hardware_interface::PositionJointInterface	position_joint_interface_ {}

joint_limits_interface::PositionJointSoftLimitsInterface	position_joint_limit_interface_ {}

franka::RealtimeConfig	realtime_config_

std::unique_ptr< franka::Robot >	robot_

std::string	robot_ip_

std::mutex	robot_mutex_

franka::RobotState	robot_state_libfranka_ {}

franka::RobotState	robot_state_ros_ {}

std::mutex	ros_cmd_mutex_

std::mutex	ros_state_mutex_

std::function< void(franka::Robot &, Callback)>	run_function_

urdf::Model	urdf_model_

franka::CartesianVelocities	velocity_cartesian_command_libfranka_

franka::CartesianVelocities	velocity_cartesian_command_ros_

franka::JointVelocities	velocity_joint_command_libfranka_

franka::JointVelocities	velocity_joint_command_ros_

hardware_interface::VelocityJointInterface	velocity_joint_interface_ {}

joint_limits_interface::VelocityJointSoftLimitsInterface	velocity_joint_limit_interface_ {}

Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase * >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }

Detailed Description

This class wraps the functionality of libfranka for controlling Panda robots into the ros_control framework.

Definition at line 38 of file franka_hw.h.

Member Typedef Documentation

◆ Callback

using franka_hw::FrankaHW::Callback = std::function<bool(const franka::RobotState&, franka::Duration)>

protected

Definition at line 311 of file franka_hw.h.

Constructor & Destructor Documentation

◆ FrankaHW()

franka_hw::FrankaHW::FrankaHW ( )

Default constructor.

Note: Be sure to call the init() method before operation.

Definition at line 45 of file franka_hw.cpp.

◆ ~FrankaHW()

virtual franka_hw::FrankaHW::~FrankaHW ( )

overridevirtualdefault

Member Function Documentation

◆ arrayHasNaN()

template<size_t size>

static bool franka_hw::FrankaHW::arrayHasNaN ( const std::array< double, size > & array )

inlinestaticprotected

Checks whether an array of doubles contains NaN values.

Parameters

[in] command array The array to check.

Returns: True if the array contains NaN values, false otherwise.

Definition at line 307 of file franka_hw.h.

◆ checkForConflict()

bool franka_hw::FrankaHW::checkForConflict ( const std::list< hardware_interface::ControllerInfo > & info ) const

overridevirtual

Checks whether a requested controller can be run, based on the resources and interfaces it claims.

Parameters

[in] info Controllers to be running at the same time.

Returns: True in case of a conflict, false in case of valid controllers.

Reimplemented from hardware_interface::RobotHW.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 253 of file franka_hw.cpp.

◆ checkJointLimits()

void franka_hw::FrankaHW::checkJointLimits ( )

virtual

Checks the proximity of each joint to its joint position limits and prints a warning whenever a joint is close to a limit.

Definition at line 334 of file franka_hw.cpp.

◆ commandHasNaN() [1/5]

bool franka_hw::FrankaHW::commandHasNaN ( const franka::CartesianPose & command )

static

Checks a command for NaN values.

Parameters

[in] command The command to check.

Returns: True if the command contains NaN, false otherwise.

Definition at line 593 of file franka_hw.cpp.

◆ commandHasNaN() [2/5]

bool franka_hw::FrankaHW::commandHasNaN ( const franka::CartesianVelocities & command )

static

Checks a command for NaN values.

Parameters

[in] command The command to check.

Returns: True if the command contains NaN, false otherwise.

Definition at line 597 of file franka_hw.cpp.

◆ commandHasNaN() [3/5]

bool franka_hw::FrankaHW::commandHasNaN ( const franka::JointPositions & command )

static

Checks a command for NaN values.

Parameters

[in] command The command to check.

Returns: True if the command contains NaN, false otherwise.

Definition at line 585 of file franka_hw.cpp.

◆ commandHasNaN() [4/5]

bool franka_hw::FrankaHW::commandHasNaN ( const franka::JointVelocities & command )

static

Checks a command for NaN values.

Parameters

[in] command The command to check.

Returns: True if the command contains NaN, false otherwise.

Definition at line 589 of file franka_hw.cpp.

◆ commandHasNaN() [5/5]

bool franka_hw::FrankaHW::commandHasNaN ( const franka::Torques & command )

static

Checks a command for NaN values.

Parameters

[in] command The command to check.

Returns: True if the command contains NaN, false otherwise.

Definition at line 581 of file franka_hw.cpp.

◆ connect()

void franka_hw::FrankaHW::connect ( )

virtual

Create a libfranka robot, connecting the hardware class to the master controller.

Note: While the robot is connected, no DESK based tasks can be executed.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 179 of file franka_hw.cpp.

◆ connected()

bool franka_hw::FrankaHW::connected ( )

virtual

Checks whether the hardware class is connected to a robot.

Returns: true if connected, false otherwise.

Definition at line 204 of file franka_hw.cpp.

◆ control()

void franka_hw::FrankaHW::control ( const std::function< bool(const ros::Time &, const ros::Duration &)> & ros_callback )

virtual

Runs the currently active controller in a realtime loop.

If no controller is active, the function immediately exits. When running a controller, the function only exits when ros_callback returns false.

Parameters

[in] ros_callback A callback function that is executed at each time step and runs all ROS-side functionality of the hardware. Execution is stopped if it returns false.

Exceptions

franka::ControlException	if an error related to torque control or motion generation occurred.
franka::InvalidOperationException	if a conflicting operation is already running.
franka::NetworkException	if the connection is lost, e.g. after a timeout.
franka::RealtimeException	if realtime priority cannot be set for the current thread.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 221 of file franka_hw.cpp.

◆ controlCallback()

template<typename T >

T franka_hw::FrankaHW::controlCallback	(	const T &	command,
		Callback	ros_callback,
		const franka::RobotState &	robot_state,
		franka::Duration	time_step
	)

inlineprotected

Callback for the libfranka control loop.

This method is designed to incorporate a second callback named ros_callback that will be called on each iteration of the callback.

Parameters

[in]	command	The datafield containing the command to send to the robot.
[in]	ros_callback	An additional callback that is executed every time step.
[in]	robot_state	The current robot state to compute commands with.
[in]	time_step	Time since last call to the callback.

Exceptions

std::invalid_argument When a command contains NaN values.

Returns: The command to be sent to the robot via libfranka.

Definition at line 326 of file franka_hw.h.

◆ controllerActive()

bool franka_hw::FrankaHW::controllerActive ( ) const

virtualnoexcept

Indicates whether there is an active controller.

Returns: True if a controller is currently active, false otherwise.

Definition at line 213 of file franka_hw.cpp.

◆ disconnect()

bool franka_hw::FrankaHW::disconnect ( )

virtual

Tries to disconnect the hardware class from the robot, freeing it for e.g.

DESK-based tasks. Note: Disconnecting is only possible when no controller is actively running.

Returns: true if successfully disconnected, false otherwise.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 194 of file franka_hw.cpp.

◆ doSwitch()

void franka_hw::FrankaHW::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	,
		const std::list< hardware_interface::ControllerInfo > &
	)

overridevirtual

Performs controller switching (real-time capable).

Reimplemented from hardware_interface::RobotHW.

Definition at line 268 of file franka_hw.cpp.

◆ enforceLimits()

void franka_hw::FrankaHW::enforceLimits ( const ros::Duration & period )

virtual

Enforces limits on position, velocity, and torque level.

Parameters

[in] period The duration of the current cycle.

Definition at line 245 of file franka_hw.cpp.

◆ getCollisionThresholds()

std::vector< double > franka_hw::FrankaHW::getCollisionThresholds	(	const std::string &	name,
		const ros::NodeHandle &	robot_hw_nh,
		const std::vector< double > &	defaults
	)

static

Parses a set of collision thresholds from the parameter server.

The methods returns the default values if no parameter was found or the size of the array did not match the defaults dimension.

Parameters

[in]	name	The name of the parameter to look for.
[in]	robot_hw_nh	A node handle in the namespace of the robot hardware.
[in]	defaults	A set of default values that also specify the size the parameter must have to be valid.

Returns: A set parsed parameters if valid parameters where found, the default values otherwise.

Definition at line 601 of file franka_hw.cpp.

◆ getJointEffortCommand()

std::array< double, 7 > franka_hw::FrankaHW::getJointEffortCommand ( ) const

virtualnoexcept

Gets the current joint torque command.

Returns: The current joint torque command.

Definition at line 326 of file franka_hw.cpp.

◆ getJointPositionCommand()

std::array< double, 7 > franka_hw::FrankaHW::getJointPositionCommand ( ) const

virtualnoexcept

Gets the current joint position command.

Returns: The current joint position command.

Definition at line 318 of file franka_hw.cpp.

◆ getJointVelocityCommand()

std::array< double, 7 > franka_hw::FrankaHW::getJointVelocityCommand ( ) const

virtualnoexcept

Gets the current joint velocity command.

Returns: The current joint velocity command.

Definition at line 322 of file franka_hw.cpp.

◆ init()

bool franka_hw::FrankaHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

overridevirtual

Initializes the FrankaHW class to be fully operational.

This involves parsing required configurations from the ROS parameter server, connecting to the robot and setting up interfaces for the ros_control framework.

Parameters

[in]	root_nh	A node handle in the root namespace of the control node.
[in]	robot_hw_nh	A node handle in the namespace of the robot hardware.

Returns: True if successful, false otherwise.

Reimplemented from hardware_interface::RobotHW.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 59 of file franka_hw.cpp.

◆ initParameters()

bool franka_hw::FrankaHW::initParameters	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

Reads the parameterization of the hardware class from the ROS parameter server (e.g.

arm_id, robot_ip joint_names etc.)

Parameters

[in]	root_nh	A node handle in the root namespace of the control node.
[in]	robot_hw_nh	A node handle in the namespace of the robot hardware.

Returns: True if successful, false otherwise.

Definition at line 82 of file franka_hw.cpp.

◆ initRobot()

void franka_hw::FrankaHW::initRobot ( )

protectedvirtual

Uses the robot_ip_ to connect to the robot via libfranka and loads the libfranka model.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 546 of file franka_hw.cpp.

◆ initROSInterfaces()

void franka_hw::FrankaHW::initROSInterfaces ( ros::NodeHandle & robot_hw_nh )

virtual

Initializes the class in terms of ros_control interfaces.

Note: You have to call initParameters beforehand. Use the complete initialization routine init() method to control robots.

Parameters

[in] robot_hw_nh A node handle in the namespace of the robot hardware.

Returns: True if successful, false otherwise.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 526 of file franka_hw.cpp.

◆ prepareSwitch()

bool franka_hw::FrankaHW::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

overridevirtual

Prepares switching between controllers (not real-time capable).

Parameters

[in]	start_list	Controllers requested to be started.
[in]	stop_list	Controllers requested to be stopped.

Returns: True if the preparation has been successful, false otherwise.

Reimplemented from hardware_interface::RobotHW.

Definition at line 277 of file franka_hw.cpp.

◆ read()

void franka_hw::FrankaHW::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Reads data from the franka robot.

Parameters

[in]	time	The current time.
[in]	period	The time passed since the last call to read.

Reimplemented from hardware_interface::RobotHW.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 379 of file franka_hw.cpp.

◆ reset()

void franka_hw::FrankaHW::reset ( )

virtual

Resets the limit interfaces.

Definition at line 330 of file franka_hw.cpp.

◆ robot()

franka::Robot & franka_hw::FrankaHW::robot ( ) const

virtual

Getter for the libfranka robot instance.

Exceptions

std::logic_error in case the robot is not connected or the class in not initialized

Definition at line 369 of file franka_hw.cpp.

◆ robotMutex()

std::mutex & franka_hw::FrankaHW::robotMutex ( )

virtual

Getter for the mutex protecting access to the libfranka::robot class.

This enables thread-safe access to robot().

Returns: A reference to the robot mutex.

Definition at line 217 of file franka_hw.cpp.

◆ setRunFunction()

bool franka_hw::FrankaHW::setRunFunction	(	const ControlMode &	requested_control_mode,
		bool	limit_rate,
		double	cutoff_frequency,
		franka::ControllerMode	internal_controller
	)

protectedvirtual

Configures the run function which is used as libfranka control callback based on the requested control mode.

Parameters

[in]	requested_control_mode	The control mode to configure (e.g. torque/position/velocity etc.)
[in]	limit_rate	Flag to enable/disable rate limiting to smoothen the commands.
[in]	cutoff_frequency	The cutoff frequency applied for command smoothing.
[in]	internal_controller	The internal controller to use when using position or velocity modes.

Returns: True if successful, false otherwise.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 435 of file franka_hw.cpp.

◆ setupFrankaCartesianPoseInterface()

void franka_hw::FrankaHW::setupFrankaCartesianPoseInterface ( franka::CartesianPose & pose_cartesian_command )

protectedvirtual

Configures and registers the command interface for Cartesian poses in ros_control.

Parameters

[in] pose_cartesian_command The data field holding the command to execute.

Definition at line 410 of file franka_hw.cpp.

◆ setupFrankaCartesianVelocityInterface()

void franka_hw::FrankaHW::setupFrankaCartesianVelocityInterface ( franka::CartesianVelocities & velocity_cartesian_command )

protectedvirtual

Configures and registers the command interface for Cartesian velocities in ros_control.

Parameters

[in] velocity_cartesian_command The data field holding the command to execute.

Definition at line 418 of file franka_hw.cpp.

◆ setupFrankaModelInterface()

void franka_hw::FrankaHW::setupFrankaModelInterface ( franka::RobotState & robot_state )

protectedvirtual

Configures and registers the model interface offering kinematics and dynamics in ros_control.

Parameters

[in] robot_state A reference to the data field storing the current robot state. This state is used to evaluate model qunatities (by default) at the current state.

Definition at line 427 of file franka_hw.cpp.

◆ setupFrankaStateInterface()

void franka_hw::FrankaHW::setupFrankaStateInterface ( franka::RobotState & robot_state )

protectedvirtual

Configures and registers the state interface offering the full franka::RobotState in ros_control.

Parameters

[in] robot_state The data field holding the updated robot state.

Definition at line 404 of file franka_hw.cpp.

◆ setupJointCommandInterface()

template<typename T >

void franka_hw::FrankaHW::setupJointCommandInterface	(	std::array< double, 7 > &	command,
		franka::RobotState &	state,
		bool	use_q_d,
		T &	interface
	)

inlineprotected

Configures and registers a joint command interface for positions velocities or efforts in ros_control.

Parameters

[in]	command	The data field holding the command to execute.
[in]	state	The data field holding the updated robot state.
[in]	use_q_d	Flag to configure using desired values as joint_states.
[out]	interface	The command interface to configure.

Definition at line 408 of file franka_hw.h.

◆ setupJointStateInterface()

void franka_hw::FrankaHW::setupJointStateInterface ( franka::RobotState & robot_state )

protectedvirtual

Configures and registers the joint state interface in ros_control.

Parameters

[in] robot_state The data field holding the updated robot state.

Definition at line 395 of file franka_hw.cpp.

◆ setupLimitInterface()

template<typename T >

void franka_hw::FrankaHW::setupLimitInterface	(	joint_limits_interface::JointLimitsInterface< T > &	limit_interface,
		hardware_interface::JointCommandInterface &	command_interface
	)

inlineprotected

Configures a limit interface to enforce limits on effort, velocity or position level on joint commands.

Parameters

[out]	limit_interface	The limit interface to set up.
[out]	command_interface	The command interface to hook the limit interface to.

Definition at line 356 of file franka_hw.h.

◆ setupParameterCallbacks()

void franka_hw::FrankaHW::setupParameterCallbacks ( ros::NodeHandle & robot_hw_nh )

virtual

Initializes the callbacks for on-the-fly reading the parameters for rate limiting, internal controllers and cutoff frequency.

Parameters

[in] robot_hw_nh A node handle in the namespace of the robot hardware.

Definition at line 552 of file franka_hw.cpp.

◆ update()

void franka_hw::FrankaHW::update ( const franka::RobotState & robot_state )

virtual

Updates the controller interfaces from the given robot state.

Parameters

[in] robot_state Current robot state.

Definition at line 208 of file franka_hw.cpp.

◆ write()

void franka_hw::FrankaHW::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Writes data to the franka robot.

Parameters

[in]	time	The current time.
[in]	period	The time passed since the last call to write.

Reimplemented from hardware_interface::RobotHW.

Reimplemented in franka_hw::FrankaCombinableHW.

Definition at line 385 of file franka_hw.cpp.

Member Data Documentation

◆ arm_id_

std::string franka_hw::FrankaHW::arm_id_

protected

Definition at line 528 of file franka_hw.h.

◆ collision_config_

CollisionConfig franka_hw::FrankaHW::collision_config_

protected

Definition at line 491 of file franka_hw.h.

◆ controller_active_

std::atomic_bool franka_hw::FrankaHW::controller_active_ {false}

protected

Definition at line 535 of file franka_hw.h.

◆ current_control_mode_

ControlMode franka_hw::FrankaHW::current_control_mode_ = ControlMode::None

protected

Definition at line 536 of file franka_hw.h.

◆ effort_joint_command_libfranka_

franka::Torques franka_hw::FrankaHW::effort_joint_command_libfranka_

protected

Definition at line 512 of file franka_hw.h.

◆ effort_joint_command_ros_

franka::Torques franka_hw::FrankaHW::effort_joint_command_ros_

protected

Definition at line 519 of file franka_hw.h.

◆ effort_joint_interface_

hardware_interface::EffortJointInterface franka_hw::FrankaHW::effort_joint_interface_ {}

protected

Definition at line 496 of file franka_hw.h.

◆ effort_joint_limit_interface_

joint_limits_interface::EffortJointSoftLimitsInterface franka_hw::FrankaHW::effort_joint_limit_interface_ {}

protected

Definition at line 502 of file franka_hw.h.

◆ franka_model_interface_

FrankaModelInterface franka_hw::FrankaHW::franka_model_interface_ {}

protected

Definition at line 499 of file franka_hw.h.

◆ franka_pose_cartesian_interface_

FrankaPoseCartesianInterface franka_hw::FrankaHW::franka_pose_cartesian_interface_ {}

protected

Definition at line 497 of file franka_hw.h.

◆ franka_state_interface_

FrankaStateInterface franka_hw::FrankaHW::franka_state_interface_ {}

protected

Definition at line 493 of file franka_hw.h.

◆ franka_velocity_cartesian_interface_

FrankaVelocityCartesianInterface franka_hw::FrankaHW::franka_velocity_cartesian_interface_ {}

protected

Definition at line 498 of file franka_hw.h.

◆ get_cutoff_frequency_

std::function<double()> franka_hw::FrankaHW::get_cutoff_frequency_

protected

Definition at line 540 of file franka_hw.h.

◆ get_internal_controller_

std::function<franka::ControllerMode()> franka_hw::FrankaHW::get_internal_controller_

protected

Definition at line 538 of file franka_hw.h.

◆ get_limit_rate_

std::function<bool()> franka_hw::FrankaHW::get_limit_rate_

protected

Definition at line 539 of file franka_hw.h.

◆ initialized_

bool franka_hw::FrankaHW::initialized_ {false}

protected

Definition at line 534 of file franka_hw.h.

◆ joint_limit_warning_threshold_

double franka_hw::FrankaHW::joint_limit_warning_threshold_ {0.1}

protected

Definition at line 531 of file franka_hw.h.

◆ joint_names_

std::array<std::string, 7> franka_hw::FrankaHW::joint_names_

protected

Definition at line 527 of file franka_hw.h.

◆ joint_state_interface_

hardware_interface::JointStateInterface franka_hw::FrankaHW::joint_state_interface_ {}

protected

Definition at line 492 of file franka_hw.h.

◆ libfranka_cmd_mutex_

std::mutex franka_hw::FrankaHW::libfranka_cmd_mutex_

protected

Definition at line 509 of file franka_hw.h.

◆ libfranka_state_mutex_

std::mutex franka_hw::FrankaHW::libfranka_state_mutex_

protected

Definition at line 504 of file franka_hw.h.

◆ model_

std::unique_ptr<franka_hw::ModelBase> franka_hw::FrankaHW::model_

protected

Definition at line 525 of file franka_hw.h.

◆ pose_cartesian_command_libfranka_

franka::CartesianPose franka_hw::FrankaHW::pose_cartesian_command_libfranka_

protected

Definition at line 513 of file franka_hw.h.

◆ pose_cartesian_command_ros_

franka::CartesianPose franka_hw::FrankaHW::pose_cartesian_command_ros_

protected

Definition at line 520 of file franka_hw.h.

◆ position_joint_command_libfranka_

franka::JointPositions franka_hw::FrankaHW::position_joint_command_libfranka_

protected

Definition at line 510 of file franka_hw.h.

◆ position_joint_command_ros_

franka::JointPositions franka_hw::FrankaHW::position_joint_command_ros_

protected

Definition at line 517 of file franka_hw.h.

◆ position_joint_interface_

hardware_interface::PositionJointInterface franka_hw::FrankaHW::position_joint_interface_ {}

protected

Definition at line 494 of file franka_hw.h.

◆ position_joint_limit_interface_

joint_limits_interface::PositionJointSoftLimitsInterface franka_hw::FrankaHW::position_joint_limit_interface_ {}

protected

Definition at line 500 of file franka_hw.h.

◆ realtime_config_

franka::RealtimeConfig franka_hw::FrankaHW::realtime_config_

protected

Definition at line 532 of file franka_hw.h.

◆ robot_

std::unique_ptr<franka::Robot> franka_hw::FrankaHW::robot_

protected

Definition at line 524 of file franka_hw.h.

◆ robot_ip_

std::string franka_hw::FrankaHW::robot_ip_

protected

Definition at line 529 of file franka_hw.h.

◆ robot_mutex_

std::mutex franka_hw::FrankaHW::robot_mutex_

protected

Definition at line 523 of file franka_hw.h.

◆ robot_state_libfranka_

franka::RobotState franka_hw::FrankaHW::robot_state_libfranka_ {}

protected

Definition at line 506 of file franka_hw.h.

◆ robot_state_ros_

franka::RobotState franka_hw::FrankaHW::robot_state_ros_ {}

protected

Definition at line 507 of file franka_hw.h.

◆ ros_cmd_mutex_

std::mutex franka_hw::FrankaHW::ros_cmd_mutex_

protected

Definition at line 516 of file franka_hw.h.

◆ ros_state_mutex_

std::mutex franka_hw::FrankaHW::ros_state_mutex_

protected

Definition at line 505 of file franka_hw.h.

◆ run_function_

std::function<void(franka::Robot&, Callback)> franka_hw::FrankaHW::run_function_

protected

Definition at line 541 of file franka_hw.h.

◆ urdf_model_

urdf::Model franka_hw::FrankaHW::urdf_model_

protected

Definition at line 530 of file franka_hw.h.

◆ velocity_cartesian_command_libfranka_

franka::CartesianVelocities franka_hw::FrankaHW::velocity_cartesian_command_libfranka_

protected

Definition at line 514 of file franka_hw.h.

◆ velocity_cartesian_command_ros_

franka::CartesianVelocities franka_hw::FrankaHW::velocity_cartesian_command_ros_

protected

Definition at line 521 of file franka_hw.h.

◆ velocity_joint_command_libfranka_

franka::JointVelocities franka_hw::FrankaHW::velocity_joint_command_libfranka_

protected

Definition at line 511 of file franka_hw.h.

◆ velocity_joint_command_ros_

franka::JointVelocities franka_hw::FrankaHW::velocity_joint_command_ros_

protected

Definition at line 518 of file franka_hw.h.

◆ velocity_joint_interface_

hardware_interface::VelocityJointInterface franka_hw::FrankaHW::velocity_joint_interface_ {}

protected

Definition at line 495 of file franka_hw.h.

◆ velocity_joint_limit_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface franka_hw::FrankaHW::velocity_joint_limit_interface_ {}

protected

Definition at line 501 of file franka_hw.h.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Callback

Constructor & Destructor Documentation

◆ FrankaHW()

◆ ~FrankaHW()

Member Function Documentation

◆ arrayHasNaN()

◆ checkForConflict()

◆ checkJointLimits()

◆ commandHasNaN() [1/5]

◆ commandHasNaN() [2/5]

◆ commandHasNaN() [3/5]

◆ commandHasNaN() [4/5]

◆ commandHasNaN() [5/5]

◆ connect()

◆ connected()

◆ control()

◆ controlCallback()

◆ controllerActive()

◆ disconnect()

◆ doSwitch()

◆ enforceLimits()

◆ getCollisionThresholds()

◆ getJointEffortCommand()

◆ getJointPositionCommand()

◆ getJointVelocityCommand()

◆ init()

◆ initParameters()

◆ initRobot()

◆ initROSInterfaces()

◆ prepareSwitch()

◆ read()

◆ reset()

◆ robot()

◆ robotMutex()

◆ setRunFunction()

◆ setupFrankaCartesianPoseInterface()

◆ setupFrankaCartesianVelocityInterface()

◆ setupFrankaModelInterface()

◆ setupFrankaStateInterface()

◆ setupJointCommandInterface()

◆ setupJointStateInterface()

◆ setupLimitInterface()

◆ setupParameterCallbacks()

◆ update()

◆ write()

Member Data Documentation

◆ arm_id_

◆ collision_config_

◆ controller_active_

◆ current_control_mode_

◆ effort_joint_command_libfranka_

◆ effort_joint_command_ros_

◆ effort_joint_interface_

◆ effort_joint_limit_interface_

◆ franka_model_interface_

◆ franka_pose_cartesian_interface_

◆ franka_state_interface_

◆ franka_velocity_cartesian_interface_

◆ get_cutoff_frequency_

◆ get_internal_controller_

◆ get_limit_rate_

◆ initialized_

◆ joint_limit_warning_threshold_

◆ joint_names_

◆ joint_state_interface_

◆ libfranka_cmd_mutex_

◆ libfranka_state_mutex_

◆ model_

◆ pose_cartesian_command_libfranka_

◆ pose_cartesian_command_ros_