Skip to content

Added calculation of joint velocities. #95

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
hartmanndennis wants to merge 5 commits into
base: melodic-devel
Choose a base branch
from
Open

Added calculation of joint velocities. #95

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
8c26117
Added calculation of joint velocities.
hartmanndennis Aug 10, 2017
3033da9
Merge branch 'indigo-devel' into velocity_calc
gavanderhoorn Mar 4, 2018
8d48c4c
Merge branch 'indigo-devel' into velocity_calc
gavanderhoorn Apr 14, 2018
ca74619
Merge branch 'indigo-devel' into velocity_calc
gavanderhoorn May 30, 2018
1506ac3
Merge branch 'indigo-devel' into velocity_calc
destogl Feb 25, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@ class KukaHardwareInterface : public hardware_interface::RobotHW
std::vector<std::string> joint_names_;

std::vector<double> joint_position_;
std::vector<double> joint_position_last_;
std::vector<double> joint_velocity_;
std::vector<double> joint_effort_;
std::vector<double> joint_position_command_;
Expand Down
11 changes: 8 additions & 3 deletions kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,9 @@ namespace kuka_rsi_hw_interface
{

KukaHardwareInterface::KukaHardwareInterface() :
joint_position_(6, 0.0), joint_velocity_(6, 0.0), joint_effort_(6, 0.0), joint_position_command_(6, 0.0), joint_velocity_command_(
6, 0.0), joint_effort_command_(6, 0.0), joint_names_(6), rsi_initial_joint_positions_(6, 0.0), rsi_joint_position_corrections_(
6, 0.0), ipoc_(0), n_dof_(6)
joint_position_(6, 0.0), joint_position_last_(6, 0.0), joint_velocity_(6, 0.0), joint_effort_(6, 0.0),
joint_position_command_(6, 0.0), joint_velocity_command_(6, 0.0), joint_effort_command_(6, 0.0), joint_names_(6),
rsi_initial_joint_positions_(6, 0.0), rsi_joint_position_corrections_(6, 0.0), ipoc_(0), n_dof_(6)
{
in_buffer_.resize(1024);
out_buffer_.resize(1024);
Expand Down Expand Up @@ -107,8 +107,13 @@ bool KukaHardwareInterface::read(const ros::Time time, const ros::Duration perio
for (std::size_t i = 0; i < n_dof_; ++i)
{
joint_position_[i] = DEG2RAD * rsi_state_.positions[i];
if(!period.isZero())
{
joint_velocity_[i] = (joint_position_[i] - joint_position_last_[i]) / period.toSec();
}
}
ipoc_ = rsi_state_.ipoc;
joint_position_last_ = joint_position_;

return true;
}
Expand Down