Merge branch 'develop' into remove-moveit-config

sritank · Oct 22, 2018 · a07f25f · a07f25f
2 parents 6c5f4b9 + 67101cd
commit a07f25f
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Showing 4 changed files with 43 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,7 +4,8 @@
 
 Requires `libfranka` >= 0.5.0
 
-  * Moved `panda_moveit_config` to [`ros-planning`](https://github.com/ros-planning/panda_moveit_config).
+  * Moved `panda_moveit_config` to [`ros-planning`](https://github.com/ros-planning/panda_moveit_config)
+  * Publish `robot_mode` in `franka_state_controller`
 
 ## 0.6.0 - 2018-08-08
 

diff --git a/franka_control/src/franka_state_controller.cpp b/franka_control/src/franka_state_controller.cpp
@@ -330,6 +330,38 @@ void FrankaStateController::publishFrankaStates(const ros::Time& time) {
     publisher_franka_states_.msg_.last_motion_errors =
         errorsToMessage(robot_state_.last_motion_errors);
 
+    switch (robot_state_.robot_mode) {
+      case franka::RobotMode::kOther:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_OTHER;
+        break;
+
+      case franka::RobotMode::kIdle:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_IDLE;
+        break;
+
+      case franka::RobotMode::kMove:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_MOVE;
+        break;
+
+      case franka::RobotMode::kGuiding:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_GUIDING;
+        break;
+
+      case franka::RobotMode::kReflex:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_REFLEX;
+        break;
+
+      case franka::RobotMode::kUserStopped:
+        publisher_franka_states_.msg_.robot_mode =
+            franka_msgs::FrankaState::ROBOT_MODE_USER_STOPPED;
+        break;
+
+      case franka::RobotMode::kAutomaticErrorRecovery:
+        publisher_franka_states_.msg_.robot_mode =
+            franka_msgs::FrankaState::ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY;
+        break;
+    }
+
     publisher_franka_states_.msg_.header.seq = sequence_number_;
     publisher_franka_states_.msg_.header.stamp = time;
     publisher_franka_states_.unlockAndPublish();

diff --git a/franka_hw/src/franka_hw.cpp b/franka_hw/src/franka_hw.cpp
@@ -366,7 +366,7 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
 
   if (current_control_mode_ != requested_control_mode) {
     ROS_INFO_STREAM("FrankaHW: Prepared switching controllers to "
-                    << requested_control_mode << "with parameters "
+                    << requested_control_mode << " with parameters "
                     << "limit_rate=" << limit_rate << ", cutoff_frequency=" << cutoff_frequency
                     << ", internal_controller=" << internal_controller);
     current_control_mode_ = requested_control_mode;

diff --git a/franka_msgs/msg/FrankaState.msg b/franka_msgs/msg/FrankaState.msg
@@ -31,5 +31,13 @@ float64[16] O_T_EE_d
 float64[16] F_T_EE
 float64[16] EE_T_K
 float64 time
+uint8 ROBOT_MODE_OTHER=0
+uint8 ROBOT_MODE_IDLE=1
+uint8 ROBOT_MODE_MOVE=2
+uint8 ROBOT_MODE_GUIDING=3
+uint8 ROBOT_MODE_REFLEX=4
+uint8 ROBOT_MODE_USER_STOPPED=5
+uint8 ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY=6
+uint8 robot_mode
 franka_msgs/Errors current_errors
 franka_msgs/Errors last_motion_errors