franka_gripper_sim.cpp
/tmp/ws/src/franka_ros/franka_gazebo/src/
franka__gripper__sim_8cpp
franka_gazebo/franka_gripper_sim.h
franka_gazebo
PLUGINLIB_EXPORT_CLASS
franka__gripper__sim_8cpp.html
a1c89cd98243d04b34bf757851079f689
(franka_gazebo::FrankaGripperSim, controller_interface::ControllerBase)
franka_gripper_sim.h
/tmp/ws/src/franka_ros/franka_gazebo/include/franka_gazebo/
franka__gripper__sim_8h
franka_gazebo::FrankaGripperSim::Config
franka_gazebo::FrankaGripperSim
franka_gazebo
const double
kDefaultGripperActionSpeed
namespacefranka__gazebo.html
a0c902e095c662441a60ae99a8b9d97a1
const double
kDefaultGripperActionWidthTolerance
namespacefranka__gazebo.html
a010e14b478aec771ce70557638d10033
const double
kDefaultMoveWidthTolerance
namespacefranka__gazebo.html
acd6110c707fe447a7cd3de431c6a898e
const int
kGraspConsecutiveSamples
namespacefranka__gazebo.html
af9a0d62c0ba4437eb1587978fde7649e
const double
kGraspRestingThreshold
namespacefranka__gazebo.html
a9e19c0b0d5f2c3fecacf22fe54020207
const double
kMaxFingerWidth
namespacefranka__gazebo.html
ad2c862ec4876a93256d168897abb7bbe
franka_hw_sim.cpp
/tmp/ws/src/franka_ros/franka_gazebo/src/
franka__hw__sim_8cpp
franka_gazebo/franka_hw_sim.h
franka_gazebo/model_kdl.h
franka_gazebo
franka_hw_sim.h
/tmp/ws/src/franka_ros/franka_gazebo/include/franka_gazebo/
franka__hw__sim_8h
franka_gazebo/joint.h
franka_gazebo::FrankaHWSim
franka_gazebo
joint.cpp
/tmp/ws/src/franka_ros/franka_gazebo/src/
joint_8cpp
franka_gazebo/joint.h
franka_gazebo
joint.h
/tmp/ws/src/franka_ros/franka_gazebo/include/franka_gazebo/
joint_8h
franka_gazebo::Joint
franka_gazebo
mainpage.dox
/tmp/ws/src/franka_ros/franka_gazebo/
mainpage_8dox
model_kdl.cpp
/tmp/ws/src/franka_ros/franka_gazebo/src/
model__kdl_8cpp
franka_gazebo/model_kdl.h
franka_gazebo
model_kdl.h
/tmp/ws/src/franka_ros/franka_gazebo/include/franka_gazebo/
model__kdl_8h
franka_gazebo::ModelKDL
franka_gazebo
franka_gazebo::FrankaGripperSim::Config
structfranka__gazebo_1_1FrankaGripperSim_1_1Config.html
double
force_desired
structfranka__gazebo_1_1FrankaGripperSim_1_1Config.html
af6e08a162dd00ceb5042561cffc13a54
double
speed_desired
structfranka__gazebo_1_1FrankaGripperSim_1_1Config.html
a74ebaad90cafd36e1682d590c260efd6
franka_gripper::GraspEpsilon
tolerance
structfranka__gazebo_1_1FrankaGripperSim_1_1Config.html
a855a999e07655820b35f89ab8706b171
double
width_desired
structfranka__gazebo_1_1FrankaGripperSim_1_1Config.html
a681e65c87eb6612c1f242c12d6b738b5
franka_gazebo::FrankaGripperSim
classfranka__gazebo_1_1FrankaGripperSim.html
Controller< hardware_interface::EffortJointInterface >
franka_gazebo::FrankaGripperSim::Config
GRASPING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a6c1504f5912270cb287ac65d4121d9c1
HOLDING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a9ee6780dc026696b887799c90708dd48
HOMING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a30f01384d80d9d18437a86202a78e5f0
IDLE
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54abe22522132a37cec29f246a053dd497f
MOVING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a1e0c96412398f353dd5bdb6d2c29058a
State
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54
IDLE
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54abe22522132a37cec29f246a053dd497f
HOLDING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a9ee6780dc026696b887799c90708dd48
MOVING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a1e0c96412398f353dd5bdb6d2c29058a
GRASPING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a6c1504f5912270cb287ac65d4121d9c1
HOMING
classfranka__gazebo_1_1FrankaGripperSim.html
afd5a177003ba7437a1d5447698407d54a30f01384d80d9d18437a86202a78e5f0
bool
init
classfranka__gazebo_1_1FrankaGripperSim.html
a46eb75b978ad9a3d65376f296cc3fbf6
(hardware_interface::EffortJointInterface *hw, ros::NodeHandle &nh) override
void
starting
classfranka__gazebo_1_1FrankaGripperSim.html
a8b32898fbcecaa7d842a2ac1d24fb464
(const ros::Time &) override
void
update
classfranka__gazebo_1_1FrankaGripperSim.html
a695d56877eb47ede0e4e23a1fb5527b6
(const ros::Time &now, const ros::Duration &period) override
void
control
classfranka__gazebo_1_1FrankaGripperSim.html
acc545574198c7b6716dfbce3c2e238be
(hardware_interface::JointHandle &joint, control_toolbox::Pid &, double q_d, double dq_d, double f_d, const ros::Duration &period)
void
interrupt
classfranka__gazebo_1_1FrankaGripperSim.html
ad16a646f11768f8aad3187c179316246
(const std::string &message, const State &except)
void
onGraspGoal
classfranka__gazebo_1_1FrankaGripperSim.html
a528623a4391ba445548f73dc7d9a4a75
(const franka_gripper::GraspGoalConstPtr &goal)
void
onGripperActionGoal
classfranka__gazebo_1_1FrankaGripperSim.html
ab70401b3520740bdc6c5070768b9f5c8
(const control_msgs::GripperCommandGoalConstPtr &goal)
void
onHomingGoal
classfranka__gazebo_1_1FrankaGripperSim.html
afc190f773c2f8c53b89805b3cc99a4d4
(const franka_gripper::HomingGoalConstPtr &goal)
void
onMoveGoal
classfranka__gazebo_1_1FrankaGripperSim.html
ac0bc82422fed1fff9de61f9776460592
(const franka_gripper::MoveGoalConstPtr &goal)
void
onStopGoal
classfranka__gazebo_1_1FrankaGripperSim.html
a9db569619b2d2602b5b391fcd3f19049
(const franka_gripper::StopGoalConstPtr &goal)
void
setConfig
classfranka__gazebo_1_1FrankaGripperSim.html
abc64c2eb280f09581aa3295530418b16
(const Config &&config)
void
setState
classfranka__gazebo_1_1FrankaGripperSim.html
ad5b31c3785e9095f714c632b0c9fb57b
(const State &&state)
void
transition
classfranka__gazebo_1_1FrankaGripperSim.html
a55601cb1bef966128e26b328af00214b
(const State &&state, const Config &&config)
void
waitUntilStateChange
classfranka__gazebo_1_1FrankaGripperSim.html
af455d8526196f3e7e4ff931332320d4b
()
std::unique_ptr< actionlib::SimpleActionServer< control_msgs::GripperCommandAction > >
action_gc_
classfranka__gazebo_1_1FrankaGripperSim.html
a6995482771bcd903c5f271b16ed0801e
std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::GraspAction > >
action_grasp_
classfranka__gazebo_1_1FrankaGripperSim.html
aaa417a1c01a5817368c185be8d67f434
std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::HomingAction > >
action_homing_
classfranka__gazebo_1_1FrankaGripperSim.html
a3801a230c2e726de8aea9d7667d36fa2
std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::MoveAction > >
action_move_
classfranka__gazebo_1_1FrankaGripperSim.html
a20c1491fea6e0d8632d6e33196cc3eec
std::unique_ptr< actionlib::SimpleActionServer< franka_gripper::StopAction > >
action_stop_
classfranka__gazebo_1_1FrankaGripperSim.html
aeb6f62797c802df2d99f853791cc09a3
Config
config_
classfranka__gazebo_1_1FrankaGripperSim.html
a4fd59998ede707a3b176c5ed4f7e7466
hardware_interface::JointHandle
finger1_
classfranka__gazebo_1_1FrankaGripperSim.html
ac6a0b7a55a0528ff184d9022e1fd5575
hardware_interface::JointHandle
finger2_
classfranka__gazebo_1_1FrankaGripperSim.html
ab1cd08902d1c80fa36f7d1680ff2dabc
std::mutex
mutex_
classfranka__gazebo_1_1FrankaGripperSim.html
a207b866ae912521066fe603f966263cf
control_toolbox::Pid
pid1_
classfranka__gazebo_1_1FrankaGripperSim.html
aa06b98cb1ac1527aefb2f320613f9e44
control_toolbox::Pid
pid2_
classfranka__gazebo_1_1FrankaGripperSim.html
a7fd1781936ab0fe3136f431ec03df6f2
realtime_tools::RealtimePublisher< sensor_msgs::JointState >
pub_
classfranka__gazebo_1_1FrankaGripperSim.html
a4f0ed81829e6bf53929b136bc19fd116
franka_hw::TriggerRate
rate_trigger_
classfranka__gazebo_1_1FrankaGripperSim.html
afe21e4eb24ac499c0c5680cf2b2a73a9
double
speed_default_
classfranka__gazebo_1_1FrankaGripperSim.html
afa2d03d0f8e5f02356983c9cb011e702
int
speed_samples_
classfranka__gazebo_1_1FrankaGripperSim.html
a549820f2bed9217fe1affeb2145946dc
double
speed_threshold_
classfranka__gazebo_1_1FrankaGripperSim.html
aab6e6af212cd3fb226e768411aea29de
State
state_
classfranka__gazebo_1_1FrankaGripperSim.html
a8f26ac308e2247ec6ea0eb556b3d77cc
double
tolerance_gripper_action_
classfranka__gazebo_1_1FrankaGripperSim.html
ae92ec91f31d73fa24170e0c4be6fdef6
double
tolerance_move_
classfranka__gazebo_1_1FrankaGripperSim.html
a0f34709fb78c6d6dd02e82e90a8546d2
franka_gazebo::FrankaHWSim
classfranka__gazebo_1_1FrankaHWSim.html
gazebo_ros_control::RobotHWSim
void
eStopActive
classfranka__gazebo_1_1FrankaHWSim.html
ae110d5e8fb936c38815d6815537d0d0e
(const bool active) override
bool
initSim
classfranka__gazebo_1_1FrankaHWSim.html
abfce1dd435b9e65b66852a1ae037951e
(const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent, const urdf::Model *const urdf, std::vector< transmission_interface::TransmissionInfo > transmissions) override
void
readSim
classfranka__gazebo_1_1FrankaHWSim.html
abcba9917cf74db255b44604bcf6baecd
(ros::Time time, ros::Duration period) override
void
writeSim
classfranka__gazebo_1_1FrankaHWSim.html
a4943184628c0b40350af48ea6320b97e
(ros::Time time, ros::Duration period) override
void
guessEndEffector
classfranka__gazebo_1_1FrankaHWSim.html
aa89b08981ba84302ba78b9fef91d70bd
(const ros::NodeHandle &nh, const urdf::Model &urdf)
void
initEffortCommandHandle
classfranka__gazebo_1_1FrankaHWSim.html
a9f1b15e78e373659d6dc5d66015b002a
(const std::shared_ptr< franka_gazebo::Joint > &joint)
void
initFrankaModelHandle
classfranka__gazebo_1_1FrankaHWSim.html
a2d5198497ce7872d7b17cfda6e08cc4c
(const std::string &robot, const urdf::Model &urdf, const transmission_interface::TransmissionInfo &transmission)
void
initFrankaStateHandle
classfranka__gazebo_1_1FrankaHWSim.html
aed195fa56c3935be1c18b560a5da82d8
(const std::string &robot, const urdf::Model &urdf, const transmission_interface::TransmissionInfo &transmission)
void
initJointStateHandle
classfranka__gazebo_1_1FrankaHWSim.html
a20147851c9345f7222a2418f49f1847e
(const std::shared_ptr< franka_gazebo::Joint > &joint)
void
initServices
classfranka__gazebo_1_1FrankaHWSim.html
a5bad197f3b9d8822732345ae17d13e1e
(ros::NodeHandle &nh)
std::array< double, N >
readArray
classfranka__gazebo_1_1FrankaHWSim.html
a680051eee840e0a98b71ef820860ea16
(std::string param, std::string name="")
bool
readParameters
classfranka__gazebo_1_1FrankaHWSim.html
ab395f1ce56fe1dbf642e9571a96763b9
(const ros::NodeHandle &nh, const urdf::Model &urdf)
void
updateRobotState
classfranka__gazebo_1_1FrankaHWSim.html
a734ff27855b6eb96764265eeb4d66fab
(ros::Time time)
void
updateRobotStateDynamics
classfranka__gazebo_1_1FrankaHWSim.html
a9cd2194f112ce392b58b6a1e6900cb91
()
static Eigen::Matrix3d
shiftInertiaTensor
classfranka__gazebo_1_1FrankaHWSim.html
ac092b8fec878484192dab857a523b0be
(Eigen::Matrix3d I, double m, Eigen::Vector3d p)
static Eigen::Matrix3d
skewMatrix
classfranka__gazebo_1_1FrankaHWSim.html
a40d58c9729111243114dd3ccb1dc2b4f
(const Eigen::Vector3d &vec)
std::string
arm_id_
classfranka__gazebo_1_1FrankaHWSim.html
ad4aa7af6d5e1d50a38e24daa85771499
hardware_interface::EffortJointInterface
eji_
classfranka__gazebo_1_1FrankaHWSim.html
afead7f0b07827aabe4fb2a325bc5192e
franka_hw::FrankaModelInterface
fmi_
classfranka__gazebo_1_1FrankaHWSim.html
ad5b5276d7e81df44356e3fdaa5fbfc39
franka_hw::FrankaStateInterface
fsi_
classfranka__gazebo_1_1FrankaHWSim.html
ab2d28f6a0bea890c356667a5f48a99d5
std::map< std::string, std::shared_ptr< franka_gazebo::Joint > >
joints_
classfranka__gazebo_1_1FrankaHWSim.html
a2bdb2d327190b6b68a692d27d61179ac
hardware_interface::JointStateInterface
jsi_
classfranka__gazebo_1_1FrankaHWSim.html
ab5f70890a108d87b8205f12abebf539e
std::vector< double >
lower_force_thresholds_nominal_
classfranka__gazebo_1_1FrankaHWSim.html
a5a972204145101c564e12326837385d5
std::unique_ptr< franka_hw::ModelBase >
model_
classfranka__gazebo_1_1FrankaHWSim.html
a0322dd38c00c929ab2530c46fade2a45
gazebo::physics::ModelPtr
robot_
classfranka__gazebo_1_1FrankaHWSim.html
a027bf44db6d0648ba6b77839a63d4cdd
franka::RobotState
robot_state_
classfranka__gazebo_1_1FrankaHWSim.html
a78d88e457d29d8cb914b833acf8e24f8
ros::ServiceServer
service_collision_behavior_
classfranka__gazebo_1_1FrankaHWSim.html
a941e12dd14d0153b2d83c083dfb06251
ros::ServiceServer
service_set_ee_
classfranka__gazebo_1_1FrankaHWSim.html
a4ddb2baada4b2d15258ab24e9f30c160
ros::ServiceServer
service_set_k_
classfranka__gazebo_1_1FrankaHWSim.html
ab2539634c44530d9b755028bbeb4673f
ros::ServiceServer
service_set_load_
classfranka__gazebo_1_1FrankaHWSim.html
a0ee380c2f19691ce8454e6ab4a24a994
std::vector< double >
upper_force_thresholds_nominal_
classfranka__gazebo_1_1FrankaHWSim.html
a6e36878cdc141c6e68750d50f0259ec0
franka_gazebo::Joint
structfranka__gazebo_1_1Joint.html
double
getLinkMass
structfranka__gazebo_1_1Joint.html
a552490c8dda20293863de7c5d1f58e14
() const
bool
isInCollision
structfranka__gazebo_1_1Joint.html
ae2550c947ca8c79731571408c963480e
() const
bool
isInContact
structfranka__gazebo_1_1Joint.html
a6ede57cb5ebd881f54fe0cb31e28f322
() const
Joint
structfranka__gazebo_1_1Joint.html
a77412ae4d7891bedd5171534affed16f
()=default
Joint
structfranka__gazebo_1_1Joint.html
a5769341e1f3f6fc4ce7cc98e53cbee20
(Joint &&)=default
Joint
structfranka__gazebo_1_1Joint.html
a529c2657ead5b95bf015f65331f0cdfc
(const Joint &)=delete
void
update
structfranka__gazebo_1_1Joint.html
ad51a4463f9f6bd672b976ecd5f6773e4
(const ros::Duration &dt)
double
acceleration
structfranka__gazebo_1_1Joint.html
ae151cb5de9cca17ab779482934cb44c4
Eigen::Vector3d
axis
structfranka__gazebo_1_1Joint.html
ab24d5a3212912c3da25a3bd0d46c1692
double
collision_threshold
structfranka__gazebo_1_1Joint.html
a9e39511f516114d388a0eccd0a2daeb9
double
command
structfranka__gazebo_1_1Joint.html
af232dd9e18e98ab5dcef6978bcd32383
double
contact_threshold
structfranka__gazebo_1_1Joint.html
ae5396eb30d693f56b0ef46eba95e6653
double
effort
structfranka__gazebo_1_1Joint.html
aef3553f5d8505755a037ae6aa2077211
gazebo::physics::JointPtr
handle
structfranka__gazebo_1_1Joint.html
af0dfd50d282a51de66f4fbe3fd8d3d2b
double
jerk
structfranka__gazebo_1_1Joint.html
a6e587d091114a7b47fc171266aeaf90f
std::string
name
structfranka__gazebo_1_1Joint.html
a02eb9e0ec62d8d915644b09dc85ec9bc
double
position
structfranka__gazebo_1_1Joint.html
a1ea7b1fe16b84dca5e9b4d88446b28a7
int
type
structfranka__gazebo_1_1Joint.html
a8830a7a021ef5a1b434b72340749a027
double
velocity
structfranka__gazebo_1_1Joint.html
a616d773ff1c2c5b5e67f4f12a1ed6afe
double
lastAcceleration
structfranka__gazebo_1_1Joint.html
a431e306fc9d93094651eabf7f703955e
double
lastVelocity
structfranka__gazebo_1_1Joint.html
af6d8169218e3c5586a6b96965e56d9f7
franka_gazebo::ModelKDL
classfranka__gazebo_1_1ModelKDL.html
franka_hw::ModelBase
std::array< double, 42 >
bodyJacobian
classfranka__gazebo_1_1ModelKDL.html
a94be78411947db52ed5eb3ada2f5cd4f
(franka::Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const override
std::array< double, 7 >
coriolis
classfranka__gazebo_1_1ModelKDL.html
aa633201a3d4975d576157978d3e409e6
(const std::array< double, 7 > &q, const std::array< double, 7 > &dq, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const override
std::array< double, 7 >
gravity
classfranka__gazebo_1_1ModelKDL.html
a9d5e835d30de1e69e3919f33e181e858
(const std::array< double, 7 > &q, double m_total, const std::array< double, 3 > &F_x_Ctotal, const std::array< double, 3 > &gravity_earth) const override
std::array< double, 49 >
mass
classfranka__gazebo_1_1ModelKDL.html
a258ff2f94cfdac14bf4ff5ed5e2102a5
(const std::array< double, 7 > &q, const std::array< double, 9 > &I_total, double m_total, const std::array< double, 3 > &F_x_Ctotal) const override
ModelKDL
classfranka__gazebo_1_1ModelKDL.html
ae2753927f1f8d37eba6e42634c8e6d9b
(const urdf::Model &model, const std::string &root, const std::string &tip)
std::array< double, 16 >
pose
classfranka__gazebo_1_1ModelKDL.html
a5717e46aeb2730b059b40019d243e47f
(franka::Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const override
std::array< double, 42 >
zeroJacobian
classfranka__gazebo_1_1ModelKDL.html
a69c729239349142d15a31d4727f9be91
(franka::Frame frame, const std::array< double, 7 > &q, const std::array< double, 16 > &F_T_EE, const std::array< double, 16 > &EE_T_K) const override
static void
augmentFrame
classfranka__gazebo_1_1ModelKDL.html
a1c46be121fcad2ac8451cbbf3e15ec4a
(const std::string &name, const std::array< double, 16 > &transform, KDL::Chain &chain)
static void
augmentFrame
classfranka__gazebo_1_1ModelKDL.html
a8a0f94e55aafe6a25132c0142387b0be
(const std::string &name, const std::array< double, 3 > ¢er_of_mass, double mass, const std::array< double, 9 > &inertia, KDL::Chain &chain)
static int
segment
classfranka__gazebo_1_1ModelKDL.html
a2eadf8740db2d40514354537ea200874
(franka::Frame frame)
static std::string
strError
classfranka__gazebo_1_1ModelKDL.html
a5ae4c10e348cf4a101c44f2bfa196160
(const int error)
KDL::Chain
chain_
classfranka__gazebo_1_1ModelKDL.html
a7a82b7a613d06351cc94158ef87d31ec
franka_gazebo
namespacefranka__gazebo.html
franka_gazebo::FrankaGripperSim
franka_gazebo::FrankaHWSim
franka_gazebo::Joint
franka_gazebo::ModelKDL
const double
kDefaultGripperActionSpeed
namespacefranka__gazebo.html
a0c902e095c662441a60ae99a8b9d97a1
const double
kDefaultGripperActionWidthTolerance
namespacefranka__gazebo.html
a010e14b478aec771ce70557638d10033
const double
kDefaultMoveWidthTolerance
namespacefranka__gazebo.html
acd6110c707fe447a7cd3de431c6a898e
const int
kGraspConsecutiveSamples
namespacefranka__gazebo.html
af9a0d62c0ba4437eb1587978fde7649e
const double
kGraspRestingThreshold
namespacefranka__gazebo.html
a9e19c0b0d5f2c3fecacf22fe54020207
const double
kMaxFingerWidth
namespacefranka__gazebo.html
ad2c862ec4876a93256d168897abb7bbe
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