BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #54 from ROBOTIS-GIT/master

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merge for sync kinetic-devel and master branch
This commit is contained in:
Yoonseok Pyo
2018-03-15 08:13:27 +09:00
committed by GitHub
parent ff2b8bdc3e ee6f240f90
commit 42b403afa3
3 changed files with 64 additions and 10 deletions
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35
.travis.yml Normal file
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@ -0,0 +1,35 @@
# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
dist: trusty
sudo: required
services:
- docker
language: generic
python:
- "2.7"
compiler:
- gcc
notifications:
email:
on_success: always
on_failure: always
recipients:
- pyo@robotis.com
env:
matrix:
- ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true
- ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
matrix:
allow_failures:
- env: ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0
branches:
only:
- master
- develop
- kinetic-devel
install:
- git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
script:
- source .ci_config/travis.sh

32
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -485,6 +485,8 @@ void RobotisController::initializeDevice(const std::string init_file_path)
{
if (dxl->bulk_read_items_.size() != 0)
{
uint16_t data16 = 0;
bulkread_start_addr = dxl->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
@ -497,8 +499,12 @@ void RobotisController::initializeDevice(const std::string init_file_path)
bulkread_data_length += addr_leng;
for (int l = 0; l < addr_leng; l++)
{
// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l);
write2Byte(joint_name, indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
//ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
read2Byte(joint_name, indirect_addr, &data16);
if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l)
{
write2Byte(joint_name, indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
}
indirect_addr += 2;
}
}
@ -552,6 +558,8 @@ void RobotisController::initializeDevice(const std::string init_file_path)
{
if (sensor->bulk_read_items_.size() != 0)
{
uint16_t data16 = 0;
bulkread_start_addr = sensor->bulk_read_items_[0]->address_;
bulkread_data_length = 0;
@ -565,9 +573,13 @@ void RobotisController::initializeDevice(const std::string init_file_path)
for (int l = 0; l < addr_leng; l++)
{
// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", sensor_name.c_str(), indirect_addr, sensor->ctrl_table[sensor->bulk_read_items[i]->item_name]->address + _l);
write2Byte(sensor_name,
indirect_addr,
sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l);
read2Byte(sensor_name, indirect_addr, &data16);
if (data16 != sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l)
{
write2Byte(sensor_name,
indirect_addr,
sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l);
}
indirect_addr += 2;
}
}
@ -934,8 +946,8 @@ void RobotisController::process()
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;
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
}
@ -1154,8 +1166,8 @@ void RobotisController::process()
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;
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
}
@ -1239,7 +1251,7 @@ void RobotisController::process()
if (result_state == NULL)
{
fprintf(stderr, "[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str());
ROS_ERROR("[%s] %s ", (*module_it)->getModuleName().c_str(), joint_name.c_str());
continue;
}

7
robotis_device/src/robotis_device/robot.cpp
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@ -154,6 +154,13 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path)
uint16_t indirect_data_addr = dxl->ctrl_table_[INDIRECT_DATA_1]->address_;
for (int _i = 0; _i < sub_tokens.size(); _i++)
{
std::map<std::string, ControlTableItem *>::iterator bulkread_it = dxl->ctrl_table_.find(sub_tokens[_i]);
if(bulkread_it == dxl->ctrl_table_.end())
{
fprintf(stderr, "\n ##### BULK READ ITEM [ %s ] NOT FOUND!! #####\n\n", sub_tokens[_i].c_str());
continue;
}
dxl->bulk_read_items_.push_back(new ControlTableItem());
ControlTableItem *dest_item = dxl->bulk_read_items_[_i];
ControlTableItem *src_item = dxl->ctrl_table_[sub_tokens[_i]];