valid_shared_memory_patch.diff

diff --git a/shared_memory.hpp b/shared_memory.hpp
--- a/shared_memory.hpp
+++ b/shared_memory.hpp
@@ struct SharedMemoryData {
     typedef bip::allocator<double, bip::managed_shared_memory::segment_manager> ShmemAllocator;
-    typedef bip::vector<double, ShmemAllocator> SharedVector;
+    typedef bip::vector<double, ShmemAllocator> SharedVector;

     SharedMemoryData(const ShmemAllocator& alloc)
-        : data(alloc), ee_wrench(alloc),data_ready(false) {}
+        : data(alloc), ee_wrench(alloc), data_ready(false) {}

     bip::interprocess_mutex mutex;
     bip::interprocess_condition cond_var;

     bool data_ready;
     SharedVector data;
-    ShmemVector ee_wrench;
+    SharedVector ee_wrench;
 };

diff --git a/franka_driver.cc b/franka_driver.cc
--- a/franka_driver.cc
+++ b/franka_driver.cc
@@ class PandaDriver {
+  // Shared memory interface
+  bip::managed_shared_memory shm_segment_;
+  SharedMemoryData* shm_;

@@ PandaDriver::PandaDriver(...)
     : robot_(robot_ip_address, franka::RealtimeConfig::kIgnore),
       model_(robot_.loadModel()),
       lcm_(lcm_url),
       lcm_command_channel_(lcm_command_channel),
       lcm_status_channel_(lcm_status_channel),
       latch_(latch),
       expire_usec_(expire_usec),
       joint_torque_limit_(joint_torque_limit),
       cartesian_force_limit_(cartesian_force_limit),
       remove_gravity_compensation_(remove_gravity_compensation),
-      plant_(std::move(plant)) {
+      plant_(std::move(plant)),
+      shm_segment_(bip::open_only, "MySharedMemory"),
+      shm_(shm_segment_.find<SharedMemoryData>("SharedData").first) {

@@ void PublishRobotState(const franka::RobotState& state) {
+    // Publish end-effector wrench to shared memory
+    std::array<double, 6> wrench_array = state.O_F_ext_hat_K;
+    {
+      bip::scoped_lock<bip::interprocess_mutex> lock(shm_->mutex);
+      shm_->ee_wrench.clear();
+      shm_->ee_wrench.insert(shm_->ee_wrench.end(), wrench_array.begin(), wrench_array.end());
+      shm_->data_ready = true;
+      shm_->cond_var.notify_one();
+    }