Merge branch 'develop' of https://github.com/ROBOTIS-GIT/ROBOTIS-Framework into develop

robotis_device/CHANGELOG.rst

@@ -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

robotis_device/include/robotis_device/robot.h

@@ -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();
 };
 
 }

robotis_device/package.xml

@@ -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>

robotis_device/src/robotis_device/robot.cpp

@@ -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_;
+}