franka_hw実装調査

franka_hw.h

libfrankaのヘッダファイルを使用

#include <franka/control_types.h>
#include <franka/duration.h>
#include <franka/rate_limiting.h>
#include <franka/robot.h>
#include <franka/robot_state.h>
namespace franka_hw {
class FrankaHW : public hardware_interface::RobotHW {
  franka::RobotState robot_state_libfranka_{};
  franka::JointPositions position_joint_command_libfranka_;
  franka::JointVelocities velocity_joint_command_libfranka_;
  franka::Torques effort_joint_command_libfranka_;
  franka::CartesianPose pose_cartesian_command_libfranka_;
  franka::CartesianVelocities velocity_cartesian_command_libfranka_;
  std::unique_ptr<franka::Robot> robot_;
};
}  // namespace franka_hw

franka_hw.cpp

#include <franka_hw/franka_hw.h>
void FrankaHW::connect() {
  if (!robot_) {
    robot_ = std::make_unique<franka::Robot>(robot_ip_, realtime_config_);
    robot_->setCollisionBehavior(collision_config_.lower_torque_thresholds_acceleration,
                                 collision_config_.upper_torque_thresholds_acceleration,
                                 collision_config_.lower_torque_thresholds_nominal,
                                 collision_config_.upper_torque_thresholds_nominal,
                                 collision_config_.lower_force_thresholds_acceleration,
                                 collision_config_.upper_force_thresholds_acceleration,
                                 collision_config_.lower_force_thresholds_nominal,
                                 collision_config_.upper_force_thresholds_nominal);
  }
}
void FrankaHW::initRobot() {
  connect();
  model_ = std::make_unique<franka_hw::Model>(robot_->loadModel());
  update(robot_->readOnce());
}