Добавлена реализация контроллера, для работы с физическим роботом

2025-11-21 16:32:53 +10:00
parent b8905b1bca
commit 7bc2a21575
50 changed files with 8458 additions and 1 deletions
@@ -0,0 +1,104 @@
+cmake_minimum_required(VERSION 3.8)
+project(iiwa_controller)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# FRI headers / sources
+set(FRI_HEADER
+    external/libFRI/include
+    external/libFRI/src/protobuf_gen
+    external/libFRI/src/nanopb-0.2.8
+    external/libFRI/src/protobuf
+    external/libFRI/src/connection
+    external/libFRI/src/client_lbr
+    external/libFRI/src/base
+  )
+
+set(FRI_SRC
+    external/libFRI/src/base/friClientApplication.cpp
+    external/libFRI/src/client_lbr/friLBRClient.cpp
+    external/libFRI/src/client_lbr/friLBRCommand.cpp
+    external/libFRI/src/client_lbr/friLBRState.cpp
+    external/libFRI/src/connection/friUdpConnection.cpp
+    external/libFRI/src/protobuf/friCommandMessageEncoder.cpp
+    external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp
+    external/libFRI/src/protobuf/pb_frimessages_callbacks.c
+    external/libFRI/src/protobuf_gen/FRIMessages.pb.c
+    external/libFRI/src/nanopb-0.2.8/pb_decode.c
+    external/libFRI/src/nanopb-0.2.8/pb_encode.c
+    external/libFRI/src/client_trafo/friTransformationClient.cpp
+  )
+
+add_library(${PROJECT_NAME}
+  SHARED
+  src/IIWAHardwareInterface.cpp
+  ${FRI_SRC}
+  src/FRIClient.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  PRIVATE
+    include
+    ${FRI_HEADER}
+)
+
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    PB_FIELD_16BIT
+    HAVE_SOCKLEN_T
+    PB_FIELD_16BIT 
+    PB_NO_ERRMSG
+)
+
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    hardware_interface::hardware_interface
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+    Eigen3::Eigen
+)
+
+# Export plugin description for pluginlib
+pluginlib_export_plugin_description_file(hardware_interface iiwa_controller_plugin.xml)
+
+# Installation
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  Eigen3
+)
+
+ament_package()