BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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This commit is contained in:
s-changhyun
2016-09-28 18:59:49 +09:00
parent d0de3171d0
commit 260c03b3ae
2 changed files with 107 additions and 1 deletions
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32
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@@ -1519,6 +1519,11 @@ void RobotisController::setCtrlModuleCallback(const std_msgs::String::ConstPtr &
{
std::string _module_name_to_set = msg->data;
set_module_thread_ = boost::thread(boost::bind(&RobotisController::setCtrlModuleThread, this, _module_name_to_set));
}
@@ -1532,7 +1537,7 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
return;
set_module_thread_ = boost::thread(boost::bind(&RobotisController::setJointCtrlModuleThread, this, msg));
}
}
bool RobotisController::getCtrlModuleCallback(robotis_controller_msgs::GetJointModule::Request &req,
robotis_controller_msgs::GetJointModule::Response &res)
@@ -1751,6 +1756,18 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
// stop module
std::list<MotionModule *> stop_modules;
ROS_INFO("----- Before -----");
for (auto& d_it : robot_->dxls_)
{
std::string joint_name = d_it.first;
Dynamixel *dxl = d_it.second;
double goal_position = dxl->dxl_state_->goal_position_;
fprintf(stderr, "%s : %f \n", joint_name.c_str(), goal_position);
}
ROS_INFO("----- ----- -----");
if (ctrl_module == "" || ctrl_module == "none")
{
// enqueue all modules in order to stop
@@ -1956,6 +1973,19 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (current_module_msg.joint_name.size() == current_module_msg.module_name.size())
current_module_pub_.publish(current_module_msg);
ROS_INFO("----- After -----");
for (auto& d_it : robot_->dxls_)
{
std::string joint_name = d_it.first;
Dynamixel *dxl = d_it.second;
double goal_position = dxl->dxl_state_->goal_position_;
fprintf(stderr, "%s : %f \n", joint_name.c_str(), goal_position);
}
ROS_INFO("----- ----- -----");
}
void RobotisController::gazeboJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)

76
robotis_device/devices/dynamixel/H54-100-B210-R-NR.device Normal file
View File

@@ -0,0 +1,76 @@
[device info]
model_name = H54-100-B210-R-NR
device_type = dynamixel
[type info]
torque_to_current_value_ratio = 9.09201
velocity_to_value_ratio = 2046.2777
value_of_0_radian_position = 0
value_of_min_radian_position = -250950
value_of_max_radian_position = 250950
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name = present_current
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
7 | ID | 1 | RW | EEPROM | 0 | 252 | N
8 | baudrate | 1 | RW | EEPROM | 0 | 8 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N
13 | homing_offset | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
17 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | N
21 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
22 | max_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N
26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
30 | torque_limit | 2 | RW | EEPROM | 0 | 32767 | N
32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N
36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y
44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N
45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N
46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N
47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N
48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N
562 | torque_enable | 1 | RW | RAM | 0 | 1 | N
563 | LED_RED | 1 | RW | RAM | 0 | 255 | N
564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N
565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N
586 | velocity_i_gain | 2 | RW | RAM | 0 | 2047 | N
588 | velocity_p_gain | 2 | RW | RAM | 0 | 2047 | N
594 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N
596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y
600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y
604 | goal_torque | 2 | RW | RAM | -32768 | 32767 | Y
606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N
610 | is_moving | 1 | R | RAM | 0 | 1 | N
611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y
621 | present_current | 2 | R | RAM | -32768 | 32767 | Y
623 | present_voltage | 2 | R | RAM | 0 | 500 | N
625 | present_temperature | 1 | R | RAM | 0 | 200 | N
626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N
628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N
630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N
632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N
634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N
891 | status_return_level | 1 | RW | RAM | 0 | 2 | N
892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N