Adding Cartesian impedance/force control #106
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…n changing operation mode.
Cart Imp and F/T modes. Still work in progress.
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@rkojcev these changes are slightly out of date with @ashkan372 merged changes in #107, do you think you could merge and update? |
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Looks like there is some cool stuff in here! Thanks! Could you update the pull request with changes for the comments below and so it merges with master? @ashkan372 could you also take a look?
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| // Printing dummy message: | ||
| getLogger().info("DUMMY: " + _currentKUKAiiwaState.dummy()); |
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this will probably overload the logger, won't it? should this be in an if(debug) or something like that?
| /** | ||
| * Creates a FRI Session. | ||
| */ | ||
| public class GRL_Driver_ChangeModes extends RoboticsAPIApplication |
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Can a more detailed explanation of this class be added here? What does it do? Why is it needed? How do I interact with it? Where is it used and why?
| getLogger().info("GRL_Driver from github.com/ahundt/grl starting...\nZMQ Connecting to: " + _processDataManager.get_ZMQ_MASTER_URI()); | ||
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| // connect to the controlling application via ZeroMQ | ||
| ZMQManager zmq = new ZMQManager(_processDataManager.get_ZMQ_MASTER_URI(),getLogger()); |
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Will this conflict with @ashkan372's pull request #107? If not, will need to make the change to reconcile the differences! Perhaps it is designed to abstract the difference away across an interface?
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| } | ||
| // RISTO Start |
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what does this mean? could you add an explanation of what's happening?
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| CartesianImpedanceControlMode cicm = new CartesianImpedanceControlMode(); | ||
| // These parameters cant be changed online, only stiffnesses and damping, read KUKA documentation. However when we switch Control modes, this values can be set up. |
| @@ -17,9 +17,16 @@ | |||
| #include <sensor_msgs/JointState.h> | |||
| #include <std_msgs/String.h> | |||
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| #include <cartesian_impedance_msgs/SetCartesianImpedance.h> | |||
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This might add an additional dependency, we will need a way to make this optional at the very least.
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@ahundt thanks for the review!!! I will have a look at the most recent changes to grl make necessary changes and then make a new pull request with no conflicts and clean code. I am currently with very few time to work on this. I will try to get back to it as soon as possible!! |
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@rkojcev great thanks! Also when you update the changes be sure to avoid removing existing functionality if possible, I noticed all the FRI functionality gets taken out. |
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Relevant issue: |
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Closing due to inactivity. I'd love to merge this so feel free to let me know. |
This changes add Impedance/Force control to grl via ros messages
See the following for details:
ros-industrial-consortium/majorana#3