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Optionnal hand_frame_control initialization from ros parameters #157

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Optionnal hand_frame_control initialization from ros parameters #157

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1 change: 1 addition & 0 deletions cartesian_force_controller/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ my_cartesian_force_controller:
end_effector_link: "tool0"
robot_base_link: "base_link"
ft_sensor_ref_link: "sensor_link"
hand_frame_control: true
joints:
- joint1
- joint2
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9 changes: 9 additions & 0 deletions cartesian_force_controller/include/cartesian_force_controller/cartesian_force_controller.hpp
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Expand Up @@ -69,6 +69,15 @@ init(HardwareInterface* hw, ros::NodeHandle& nh)
return false;
}

if(nh.hasParam("hand_frame_control"))
{
if (!nh.getParam("hand_frame_control",m_hand_frame_control))
{
ROS_ERROR_STREAM("Failed to load " << nh.getNamespace() + "/hand_frame_control" << " from parameter server");
return false;
}
}

// Make sure sensor link is part of the robot chain
if(!Base::robotChainContains(m_ft_sensor_ref_link))
{
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