BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

- modified RobotisController::setJointStatesCallback function

Browse Source
This commit is contained in:
Zerom
2018-04-10 17:51:53 +09:00
parent 6547e9da27
commit 45b088e30a
1 changed files with 19 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@ -1637,30 +1637,33 @@ void RobotisController::setControllerModeCallback(const std_msgs::String::ConstP
void RobotisController::setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
{
if (controller_mode_ != DirectControlMode)
return;
queue_mutex_.lock();
for (int i = 0; i < msg->name.size(); i++)
{
int32_t pos = 0;
Dynamixel *dxl = robot_->dxls_[msg->name[i]];
if (dxl == NULL)
continue;
dxl->dxl_state_->goal_position_ = msg->position[i];
pos = dxl->convertRadian2Value((double) msg->position[i]);
uint8_t sync_write_data[4];
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos));
sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(pos));
sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(pos));
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if ((controller_mode_ == DirectControlMode) ||
(controller_mode_ == MotionModuleMode && dxl->ctrl_module_name_ == "none"))
{
dxl->dxl_state->goal_position_ = (double) msg->position[i];
if (gazebo_mode_ == false)
{
// add offset
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state->goal_position_ + dxl->dxl_state->position_offset_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));
sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(pos_data));
sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(pos_data));
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
}
}
}
queue_mutex_.unlock();