Merge branch 'develop' of https://github.com/ROBOTIS-GIT/ROBOTIS-Framework into develop
This commit is contained in:
kayman
12
.gitignore
vendored
12
.gitignore
vendored
@@ -1 +1,11 @@
|
||||
/robotis_device/devices/dynamixel/H54-100-B210-R-NR.device
|
||||
build
|
||||
devel
|
||||
bin
|
||||
lib
|
||||
msg_gen
|
||||
srv_gen
|
||||
qtcreator-build
|
||||
*~
|
||||
*.backup
|
||||
*.user
|
||||
*.autosave
|
||||
|
||||
@@ -1,23 +1,64 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_controller
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* first public release for Kinetic
|
||||
* modified the package information for release
|
||||
* develop branch -> master branch
|
||||
* function name changed : DeviceInit() -> InitDevice()
|
||||
* Fixed high CPU consumption due to busy waits
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* XM-430 / CM-740 device file added.
|
||||
Sensor device added.
|
||||
* added code to support the gazebo simulator
|
||||
* added first bulk read failure protection code
|
||||
* renewal
|
||||
* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_controller
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.2.1 (2016-11-23)
|
||||
-----------
|
||||
* Merge the changes and update
|
||||
* - Direct Control Mode bug fixed.
|
||||
* update
|
||||
* - added writeControlTableCallback
|
||||
* - added WriteControlTable msg callback
|
||||
* mode change debugging
|
||||
* - optimized cpu usage by spin loop (by astumpf)
|
||||
* - robotis_controller process() : processing order changed.
|
||||
* 1st : packet communication
|
||||
* 2nd : processing modules
|
||||
* - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)
|
||||
* - make setJointCtrlModuleCallback() to the thread function & improved.
|
||||
* - modified dependency problem.
|
||||
* - reduce CPU consumption
|
||||
* Contributors: Jay Song, Pyo, Zerom, SCH
|
||||
|
||||
0.2.0 (2016-08-31)
|
||||
-----------
|
||||
* bug fixed (position pid gain & velocity pid gain sync write).
|
||||
* added velocity_to_value_ratio to DXL Pro-H series.
|
||||
* changed some debug messages.
|
||||
* added velocity p/i/d gain and position i/d gain sync_write code.
|
||||
* SyncWriteItem bug fixed.
|
||||
* add function / modified the code simple (using auto / range based for loop)
|
||||
* added XM-430-W210 / XM-430-W350 device file.
|
||||
* rename ControlMode(CurrentControl -> TorqueControl)
|
||||
* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
|
||||
* rename (present_current\_ -> present_torque\_)
|
||||
* modified torque control code
|
||||
* fixed typos / changed ROS_INFO -> fprintf (for processing speed)
|
||||
* startTimer() : after bulkread txpacket(), need some sleep()
|
||||
* changed the order of processing in the Process() function.
|
||||
* added missing mutex for gazebo
|
||||
* fixed crash when running in gazebo simulation
|
||||
* sync write bug fix.
|
||||
* added position_p_gain sync write
|
||||
* MotionModule/SensorModule member variable access changed (public -> protected).
|
||||
* Contributors: Jay Song, Zerom, Pyo, SCH
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* first public release for Kinetic
|
||||
* modified the package information for release
|
||||
* develop branch -> master branch
|
||||
* function name changed : DeviceInit() -> InitDevice()
|
||||
* Fixed high CPU consumption due to busy waits
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* XM-430 / CM-740 device file added.
|
||||
Sensor device added.
|
||||
* added code to support the gazebo simulator
|
||||
* added first bulk read failure protection code
|
||||
* renewal
|
||||
* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
|
||||
|
||||
@@ -95,8 +95,6 @@ private:
|
||||
void initializeSyncWrite();
|
||||
|
||||
public:
|
||||
static const int CONTROL_CYCLE_MSEC = 8; // 8 msec
|
||||
|
||||
bool DEBUG_PRINT;
|
||||
Robot *robot_;
|
||||
|
||||
|
||||
@@ -1,28 +1,32 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_controller</name>
|
||||
<version>0.1.1</version>
|
||||
<description>
|
||||
The main package that controls THORMANG3.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_controller</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>roslib</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>robotis_controller_msgs</build_depend>
|
||||
<build_depend>robotis_framework_common</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>roslib</run_depend>
|
||||
<run_depend>std_msgs</run_depend>
|
||||
<run_depend>sensor_msgs</run_depend>
|
||||
<run_depend>robotis_controller_msgs</run_depend>
|
||||
<run_depend>robotis_framework_common</run_depend>
|
||||
<export></export>
|
||||
</package>
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_controller</name>
|
||||
<version>0.2.1</version>
|
||||
<description>
|
||||
The main package that controls THORMANG3.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_controller</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>roslib</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>dynamixel_sdk</build_depend>
|
||||
<build_depend>robotis_device</build_depend>
|
||||
<build_depend>robotis_controller_msgs</build_depend>
|
||||
<build_depend>robotis_framework_common</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>roslib</run_depend>
|
||||
<run_depend>std_msgs</run_depend>
|
||||
<run_depend>sensor_msgs</run_depend>
|
||||
<run_depend>dynamixel_sdk</run_depend>
|
||||
<run_depend>robotis_device</run_depend>
|
||||
<run_depend>robotis_controller_msgs</run_depend>
|
||||
<run_depend>robotis_framework_common</run_depend>
|
||||
<export></export>
|
||||
</package>
|
||||
|
||||
@@ -603,7 +603,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
|
||||
|
||||
void RobotisController::gazeboTimerThread()
|
||||
{
|
||||
ros::Rate gazebo_rate(1000 / CONTROL_CYCLE_MSEC);
|
||||
ros::Rate gazebo_rate(1000 / robot_->getControlCycle());
|
||||
|
||||
while (!stop_timer_)
|
||||
{
|
||||
@@ -662,7 +662,7 @@ void RobotisController::msgQueueThread()
|
||||
ros::ServiceServer joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
|
||||
&RobotisController::getCtrlModuleCallback, this);
|
||||
|
||||
ros::WallDuration duration(CONTROL_CYCLE_MSEC / 1000.0);
|
||||
ros::WallDuration duration(robot_->getControlCycle() / 1000.0);
|
||||
while(ros_node.ok())
|
||||
callback_queue.callAvailable(duration);
|
||||
}
|
||||
@@ -679,8 +679,8 @@ void *RobotisController::timerThread(void *param)
|
||||
|
||||
while (!controller->stop_timer_)
|
||||
{
|
||||
next_time.tv_sec += (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) / 1000000000;
|
||||
next_time.tv_nsec = (next_time.tv_nsec + CONTROL_CYCLE_MSEC * 1000000) % 1000000000;
|
||||
next_time.tv_sec += (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) / 1000000000;
|
||||
next_time.tv_nsec = (next_time.tv_nsec + controller->robot_->getControlCycle() * 1000000) % 1000000000;
|
||||
|
||||
controller->process();
|
||||
|
||||
@@ -1109,13 +1109,63 @@ void RobotisController::process()
|
||||
{
|
||||
if(gazebo_mode_ == false)
|
||||
{
|
||||
// BulkRead Rx
|
||||
for (auto& it : port_to_bulk_read_)
|
||||
{
|
||||
robot_->ports_[it.first]->setPacketTimeout(0.0);
|
||||
it.second->rxPacket();
|
||||
}
|
||||
|
||||
// -> save to robot->dxls_[]->dxl_state_
|
||||
if (robot_->dxls_.size() > 0)
|
||||
{
|
||||
for (auto& dxl_it : robot_->dxls_)
|
||||
{
|
||||
Dynamixel *dxl = dxl_it.second;
|
||||
std::string port_name = dxl_it.second->port_name_;
|
||||
std::string joint_name = dxl_it.first;
|
||||
|
||||
if (dxl->bulk_read_items_.size() > 0)
|
||||
{
|
||||
uint32_t data = 0;
|
||||
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
|
||||
{
|
||||
ControlTableItem *item = dxl->bulk_read_items_[i];
|
||||
if (port_to_bulk_read_[port_name]->isAvailable(dxl->id_, item->address_, item->data_length_) == true)
|
||||
{
|
||||
data = port_to_bulk_read_[port_name]->getData(dxl->id_, item->address_, item->data_length_);
|
||||
|
||||
// change dxl_state
|
||||
if (dxl->present_position_item_ != 0 && item->item_name_ == dxl->present_position_item_->item_name_)
|
||||
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
|
||||
else if (dxl->present_velocity_item_ != 0 && item->item_name_ == dxl->present_velocity_item_->item_name_)
|
||||
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(data);
|
||||
else if (dxl->present_current_item_ != 0 && item->item_name_ == dxl->present_current_item_->item_name_)
|
||||
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(data);
|
||||
else if (dxl->goal_position_item_ != 0 && item->item_name_ == dxl->goal_position_item_->item_name_)
|
||||
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
|
||||
else if (dxl->goal_velocity_item_ != 0 && item->item_name_ == dxl->goal_velocity_item_->item_name_)
|
||||
dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
|
||||
else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
|
||||
dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data);
|
||||
else
|
||||
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
|
||||
}
|
||||
}
|
||||
|
||||
// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
|
||||
dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
queue_mutex_.lock();
|
||||
|
||||
for (auto& it : port_to_sync_write_position_)
|
||||
{
|
||||
it.second->txPacket();
|
||||
it.second->clearParam();
|
||||
}
|
||||
// for (auto& it : port_to_sync_write_position_)
|
||||
// {
|
||||
// it.second->txPacket();
|
||||
// it.second->clearParam();
|
||||
// }
|
||||
|
||||
if (direct_sync_write_.size() > 0)
|
||||
{
|
||||
@@ -1128,6 +1178,10 @@ void RobotisController::process()
|
||||
}
|
||||
|
||||
queue_mutex_.unlock();
|
||||
|
||||
// BulkRead Tx
|
||||
for (auto& it : port_to_bulk_read_)
|
||||
it.second->txPacket();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1375,7 +1429,7 @@ void RobotisController::addMotionModule(MotionModule *module)
|
||||
}
|
||||
}
|
||||
|
||||
module->initialize(CONTROL_CYCLE_MSEC, robot_);
|
||||
module->initialize(robot_->getControlCycle(), robot_);
|
||||
motion_modules_.push_back(module);
|
||||
motion_modules_.unique();
|
||||
}
|
||||
@@ -1397,7 +1451,7 @@ void RobotisController::addSensorModule(SensorModule *module)
|
||||
}
|
||||
}
|
||||
|
||||
module->initialize(CONTROL_CYCLE_MSEC, robot_);
|
||||
module->initialize(robot_->getControlCycle(), robot_);
|
||||
sensor_modules_.push_back(module);
|
||||
sensor_modules_.unique();
|
||||
}
|
||||
@@ -1553,9 +1607,22 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
|
||||
void RobotisController::setControllerModeCallback(const std_msgs::String::ConstPtr &msg)
|
||||
{
|
||||
if (msg->data == "DirectControlMode")
|
||||
{
|
||||
for (auto& it : port_to_bulk_read_)
|
||||
{
|
||||
robot_->ports_[it.first]->setPacketTimeout(0.0);
|
||||
it.second->rxPacket();
|
||||
}
|
||||
controller_mode_ = DirectControlMode;
|
||||
}
|
||||
else if (msg->data == "MotionModuleMode")
|
||||
{
|
||||
for (auto& it : port_to_bulk_read_)
|
||||
{
|
||||
it.second->txPacket();
|
||||
}
|
||||
controller_mode_ = MotionModuleMode;
|
||||
}
|
||||
}
|
||||
|
||||
void RobotisController::setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
|
||||
@@ -1664,7 +1731,7 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
|
||||
for(std::list<MotionModule *>::iterator _stop_m_it = _stop_modules.begin(); _stop_m_it != _stop_modules.end(); _stop_m_it++)
|
||||
{
|
||||
while((*_stop_m_it)->isRunning())
|
||||
usleep(CONTROL_CYCLE_MSEC * 1000);
|
||||
usleep(robot_->getControlCycle() * 1000);
|
||||
}
|
||||
|
||||
// disable module(s)
|
||||
@@ -1879,7 +1946,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
|
||||
for (auto stop_m_it = stop_modules.begin(); stop_m_it != stop_modules.end(); stop_m_it++)
|
||||
{
|
||||
while ((*stop_m_it)->isRunning())
|
||||
usleep(CONTROL_CYCLE_MSEC * 1000);
|
||||
usleep(robot_->getControlCycle() * 1000);
|
||||
}
|
||||
|
||||
// disable module(s)
|
||||
|
||||
@@ -1,24 +1,45 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_device
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* first public release for Kinetic
|
||||
* modified the package information for release
|
||||
* develop branch -> master branch
|
||||
* Setting the license to BSD.
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* XM-430 / CM-740 device file added.
|
||||
Sensor device added.
|
||||
* modified.
|
||||
* variable name changed.
|
||||
ConvertRadian2Value / ConvertValue2Radian function bug fixed.
|
||||
* added code to support the gazebo simulator
|
||||
* renewal
|
||||
* Contributors: ROBOTIS, ROBOTIS-zerom, pyo
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_device
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.2.1 (2016-11-23)
|
||||
-----------
|
||||
* Merge the changes and update
|
||||
* mode change debugging
|
||||
* - convertRadian2Value / convertValue2Radian : commented out the code that limits the maximum/minimum value.
|
||||
* - modified dependency problem.
|
||||
* Contributors: Jay Song, Pyo, Zerom, SCH
|
||||
|
||||
0.2.0 (2016-08-31)
|
||||
-----------
|
||||
* bug fixed (position pid gain & velocity pid gain sync write).
|
||||
* added velocity_to_value_ratio to DXL Pro-H series.
|
||||
* added velocity p/i/d gain and position i/d gain sync_write code.
|
||||
* fixed robotis_device build_depend.
|
||||
* added XM-430-W210 / XM-430-W350 device file.
|
||||
* rename (present_current\_ -> present_torque\_)
|
||||
* modified torque control code
|
||||
* added device file for MX-64 / MX-106
|
||||
* adjusted position min/max value. (MX-28, XM-430)
|
||||
* Contributors: Zerom, Pyo
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* first public release for Kinetic
|
||||
* modified the package information for release
|
||||
* develop branch -> master branch
|
||||
* Setting the license to BSD.
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* XM-430 / CM-740 device file added.
|
||||
Sensor device added.
|
||||
* modified.
|
||||
* variable name changed.
|
||||
ConvertRadian2Value / ConvertValue2Radian function bug fixed.
|
||||
* added code to support the gazebo simulator
|
||||
* renewal
|
||||
* Contributors: ROBOTIS, ROBOTIS-zerom, pyo
|
||||
|
||||
@@ -48,17 +48,23 @@
|
||||
#define DYNAMIXEL "dynamixel"
|
||||
#define SENSOR "sensor"
|
||||
|
||||
#define SESSION_CONTROL_INFO "control info"
|
||||
#define SESSION_PORT_INFO "port info"
|
||||
#define SESSION_DEVICE_INFO "device info"
|
||||
|
||||
#define SESSION_TYPE_INFO "type info"
|
||||
#define SESSION_CONTROL_TABLE "control table"
|
||||
|
||||
#define DEFAULT_CONTROL_CYCLE 8 // milliseconds
|
||||
|
||||
namespace robotis_framework
|
||||
{
|
||||
|
||||
class Robot
|
||||
{
|
||||
private:
|
||||
int control_cycle_msec_;
|
||||
|
||||
public:
|
||||
std::map<std::string, dynamixel::PortHandler *> ports_; // string: port name
|
||||
std::map<std::string, std::string> port_default_device_; // port name, default device name
|
||||
@@ -70,6 +76,8 @@ public:
|
||||
|
||||
Sensor *getSensor(std::string path, int id, std::string port, float protocol_version);
|
||||
Dynamixel *getDynamixel(std::string path, int id, std::string port, float protocol_version);
|
||||
|
||||
int getControlCycle();
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
@@ -1,23 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_device</name>
|
||||
<version>0.1.1</version>
|
||||
<description>
|
||||
The package that manages device information of ROBOTIS robots.
|
||||
This package is used when reading device information with the robot information file
|
||||
from the robotis_controller package.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_device</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>dynamixel_sdk</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>rospy</run_depend>
|
||||
<run_depend>dynamixel_sdk</run_depend>
|
||||
</package>
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_device</name>
|
||||
<version>0.2.1</version>
|
||||
<description>
|
||||
The package that manages device information of ROBOTIS robots.
|
||||
This package is used when reading device information with the robot information file
|
||||
from the robotis_controller package.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_device</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>dynamixel_sdk</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>rospy</run_depend>
|
||||
<run_depend>dynamixel_sdk</run_depend>
|
||||
</package>
|
||||
|
||||
@@ -76,6 +76,7 @@ static inline std::vector<std::string> split(const std::string &text, char sep)
|
||||
}
|
||||
|
||||
Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
|
||||
: control_cycle_msec_(DEFAULT_CONTROL_CYCLE)
|
||||
{
|
||||
if (dev_desc_dir_path.compare(dev_desc_dir_path.size() - 1, 1, "/") != 0)
|
||||
dev_desc_dir_path += "/";
|
||||
@@ -106,7 +107,16 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
|
||||
continue;
|
||||
}
|
||||
|
||||
if (session == SESSION_PORT_INFO)
|
||||
if (session == SESSION_CONTROL_INFO)
|
||||
{
|
||||
std::vector<std::string> tokens = split(input_str, '=');
|
||||
if (tokens.size() != 2)
|
||||
continue;
|
||||
|
||||
if (tokens[0] == "control_cycle")
|
||||
control_cycle_msec_ = std::atoi(tokens[1].c_str());
|
||||
}
|
||||
else if (session == SESSION_PORT_INFO)
|
||||
{
|
||||
std::vector<std::string> tokens = split(input_str, '|');
|
||||
if (tokens.size() != 3)
|
||||
@@ -485,3 +495,7 @@ Dynamixel *Robot::getDynamixel(std::string path, int id, std::string port, float
|
||||
return dxl;
|
||||
}
|
||||
|
||||
int Robot::getControlCycle()
|
||||
{
|
||||
return control_cycle_msec_;
|
||||
}
|
||||
|
||||
@@ -1,12 +1,19 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_framework
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* make a meta-package
|
||||
* Contributors: Zerom, Pyo
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_framework
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.2.1 (2016-11-23)
|
||||
-----------
|
||||
* Merge the changes and update
|
||||
|
||||
0.2.0 (2016-08-31)
|
||||
-----------
|
||||
* updated CHANGLOG.rst for minor release
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* make a meta-package
|
||||
|
||||
8
robotis_framework/CMakeLists.txt
Executable file → Normal file
8
robotis_framework/CMakeLists.txt
Executable file → Normal file
@@ -1,4 +1,4 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(robotis_framework)
|
||||
find_package(catkin REQUIRED)
|
||||
catkin_metapackage()
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(robotis_framework)
|
||||
find_package(catkin REQUIRED)
|
||||
catkin_metapackage()
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_framework</name>
|
||||
<version>0.1.1</version>
|
||||
<description>ROS packages for the robotis_framework (meta package)</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_framework</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<run_depend>robotis_framework_common</run_depend>
|
||||
<run_depend>robotis_device</run_depend>
|
||||
<run_depend>robotis_controller</run_depend>
|
||||
<export><metapackage/></export>
|
||||
</package>
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_framework</name>
|
||||
<version>0.2.1</version>
|
||||
<description>ROS packages for the robotis_framework (meta package)</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_framework</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<run_depend>robotis_framework_common</run_depend>
|
||||
<run_depend>robotis_device</run_depend>
|
||||
<run_depend>robotis_controller</run_depend>
|
||||
<export><metapackage/></export>
|
||||
</package>
|
||||
|
||||
@@ -1,15 +1,29 @@
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_framework_common
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* modified the package information for release
|
||||
* Setting the license to BSD.
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* Contributors: Jay Song, Zerom, Pyo
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package robotis_framework_common
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
0.2.1 (2016-11-23)
|
||||
-----------
|
||||
* Merge the changes and update
|
||||
* - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)
|
||||
* - modified dependency problem.
|
||||
* Contributors: Jay Song, Pyo, Zerom
|
||||
|
||||
0.2.0 (2016-08-31)
|
||||
-----------
|
||||
* updated CHANGLOG.rst for minor release
|
||||
* rename ControlMode(CurrentControl -> TorqueControl)
|
||||
* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
|
||||
* Contributors: Zerom, Pyo
|
||||
|
||||
0.1.1 (2016-08-18)
|
||||
-----------
|
||||
* updated the package information
|
||||
|
||||
0.1.0 (2016-08-12)
|
||||
-----------
|
||||
* modified the package information for release
|
||||
* Setting the license to BSD.
|
||||
* add SensorState
|
||||
add Singleton template
|
||||
* Contributors: Jay Song, Zerom, Pyo
|
||||
|
||||
@@ -1,19 +1,19 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_framework_common</name>
|
||||
<version>0.1.1</version>
|
||||
<description>
|
||||
The package contains commonly used Headers for the ROBOTIS Framework.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_framework_common</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>robotis_device</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>robotis_device</run_depend>
|
||||
</package>
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>robotis_framework_common</name>
|
||||
<version>0.2.1</version>
|
||||
<description>
|
||||
The package contains commonly used Headers for the ROBOTIS Framework.
|
||||
</description>
|
||||
<license>BSD</license>
|
||||
<author email="zerom@robotis.com">Zerom</author>
|
||||
<maintainer email="pyo@robotis.com">Pyo</maintainer>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
|
||||
<url type="website">http://wiki.ros.org/robotis_framework_common</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>robotis_device</build_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>robotis_device</run_depend>
|
||||
</package>
|
||||
|
||||
Reference in New Issue
Block a user