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Fix after kinematics_interface API break (v1.1.0 -> v1.2.0) #26

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merged 5 commits into from
Jan 18, 2025
Merged

Fix after kinematics_interface API break (v1.1.0 -> v1.2.0) #26

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43cedfa
use new API for initialize()
tpoignonec Nov 12, 2024
06c28ba
oups
tpoignonec Nov 12, 2024
b327178
fix logger typo
tpoignonec Nov 12, 2024
5d58e9a
fix get_parameter()
tpoignonec Nov 12, 2024
1522fac
make format CI happy
tpoignonec Nov 12, 2024
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2 changes: 1 addition & 1 deletion ft_gui/ft_gui/ft_calibration_gui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ def connect_ros_calib(self, state):
"background-color: rgb(255,0,51);"
"border-radius:5px;"
)
self.node.get_logger().warning(f"An error occurred:{error}")
self.node.get_logger().warning(f"An error occurred: {error}")
self.node.get_logger().error('Failled to initialize ROS2 comms!')
else:
self.is_connected = False
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11 changes: 10 additions & 1 deletion ft_tools/src/ft_calibration_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,6 +292,15 @@ bool FtCalibrationNode::init_kinematics_monitoring()
return false;
}
bool all_ok = true;

// Load URDF
auto robot_param = rclcpp::Parameter();
if (!this->get_parameter("robot_description", robot_param)) {
RCLCPP_ERROR(this->get_logger(), "parameter robot_description not set");
return false;
}
auto robot_description = robot_param.as_string();

// Load the differential IK plugin
if (!parameters_.kinematics.plugin_name.empty()) {
try {
Expand All @@ -302,7 +311,7 @@ bool FtCalibrationNode::init_kinematics_monitoring()
kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
if (!kinematics_->initialize(
this->get_node_parameters_interface(), parameters_.kinematics.tip))
robot_description, this->get_node_parameters_interface(), "kinematics"))
{
all_ok &= false;
}
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11 changes: 10 additions & 1 deletion ft_tools/src/ft_estimation_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -279,6 +279,15 @@ bool FtEstimationNode::init_kinematics_monitoring()
return false;
}
bool all_ok = true;

// Load URDF
auto robot_param = rclcpp::Parameter();
if (!this->get_parameter("robot_description", robot_param)) {
RCLCPP_ERROR(this->get_logger(), "parameter robot_description not set");
return false;
}
auto robot_description = robot_param.as_string();

// Load the differential IK plugin
if (!parameters_.kinematics.plugin_name.empty()) {
try {
Expand All @@ -289,7 +298,7 @@ bool FtEstimationNode::init_kinematics_monitoring()
kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
if (!kinematics_->initialize(
this->get_node_parameters_interface(), parameters_.kinematics.tip))
robot_description, this->get_node_parameters_interface(), "kinematics"))
{
all_ok &= false;
}
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