update
This commit is contained in:
Jay-Song
46
robotis_controller/CHANGELOG.rst
Normal file → Executable file
46
robotis_controller/CHANGELOG.rst
Normal file → Executable file
@ -1,23 +1,23 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package robotis_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.1 (2016-08-18)
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-----------
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* updated the package information
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0.1.0 (2016-08-12)
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-----------
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* first public release for Kinetic
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* modified the package information for release
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* develop branch -> master branch
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* function name changed : DeviceInit() -> InitDevice()
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* Fixed high CPU consumption due to busy waits
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* add SensorState
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add Singleton template
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* XM-430 / CM-740 device file added.
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Sensor device added.
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* added code to support the gazebo simulator
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* added first bulk read failure protection code
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* renewal
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* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package robotis_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.1 (2016-08-18)
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-----------
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* updated the package information
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0.1.0 (2016-08-12)
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-----------
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* first public release for Kinetic
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* modified the package information for release
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* develop branch -> master branch
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* function name changed : DeviceInit() -> InitDevice()
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* Fixed high CPU consumption due to busy waits
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* add SensorState
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add Singleton template
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* XM-430 / CM-740 device file added.
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Sensor device added.
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* added code to support the gazebo simulator
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* added first bulk read failure protection code
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* renewal
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* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
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132
robotis_controller/CMakeLists.txt
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132
robotis_controller/CMakeLists.txt
Normal file → Executable file
@ -1,66 +1,66 @@
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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(robotis_controller)
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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roslib
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sensor_msgs
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std_msgs
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robotis_controller_msgs
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robotis_framework_common
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cmake_modules
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)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robotis_controller
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CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common
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)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
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add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS})
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target_link_libraries(robotis_controller yaml-cpp ${catkin_LIBRARIES})
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################################################################################
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# Install
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################################################################################
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install(TARGETS robotis_controller
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################
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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(robotis_controller)
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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roslib
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sensor_msgs
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std_msgs
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robotis_controller_msgs
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robotis_framework_common
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cmake_modules
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)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robotis_controller
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CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common
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)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
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add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS})
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target_link_libraries(robotis_controller yaml-cpp ${catkin_LIBRARIES})
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################################################################################
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# Install
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################################################################################
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install(TARGETS robotis_controller
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################
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0
robotis_controller/include/robotis_controller/robotis_controller.h
Normal file → Executable file
0
robotis_controller/include/robotis_controller/robotis_controller.h
Normal file → Executable file
56
robotis_controller/package.xml
Normal file → Executable file
56
robotis_controller/package.xml
Normal file → Executable file
@ -1,28 +1,28 @@
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<?xml version="1.0"?>
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<package>
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<name>robotis_controller</name>
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<version>0.1.1</version>
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<description>
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The main package that controls THORMANG3.
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</description>
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<license>BSD</license>
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<author email="zerom@robotis.com">Zerom</author>
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<maintainer email="pyo@robotis.com">Pyo</maintainer>
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<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
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<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
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<url type="website">http://wiki.ros.org/robotis_controller</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>roslib</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>robotis_controller_msgs</build_depend>
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<build_depend>robotis_framework_common</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>roslib</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>robotis_controller_msgs</run_depend>
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<run_depend>robotis_framework_common</run_depend>
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<export></export>
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</package>
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<?xml version="1.0"?>
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<package>
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<name>robotis_controller</name>
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<version>0.1.1</version>
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<description>
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The main package that controls THORMANG3.
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</description>
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<license>BSD</license>
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<author email="zerom@robotis.com">Zerom</author>
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<maintainer email="pyo@robotis.com">Pyo</maintainer>
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<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
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<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
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<url type="website">http://wiki.ros.org/robotis_controller</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>roslib</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>robotis_controller_msgs</build_depend>
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<build_depend>robotis_framework_common</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>roslib</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>robotis_controller_msgs</run_depend>
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<run_depend>robotis_framework_common</run_depend>
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<export></export>
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</package>
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17
robotis_controller/src/robotis_controller/robotis_controller.cpp
Normal file → Executable file
17
robotis_controller/src/robotis_controller/robotis_controller.cpp
Normal file → Executable file
@ -1409,6 +1409,7 @@ void RobotisController::removeSensorModule(SensorModule *module)
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void RobotisController::writeControlTableCallback(const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)
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{
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fprintf(stderr, "[WriteControlTable] led control msg received\n");
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Device *device = NULL;
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auto dev_it1 = robot_->dxls_.find(msg->joint_name);
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@ -1429,7 +1430,7 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
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return;
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}
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}
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fprintf(stderr, " #1 ");
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ControlTableItem *item = NULL;
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auto item_it = device->ctrl_table_.find(msg->start_item_name);
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if(item_it != device->ctrl_table_.end())
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@ -1442,15 +1443,29 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
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return;
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}
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fprintf(stderr, " #2 ");
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dynamixel::PortHandler *port = robot_->ports_[device->port_name_];
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dynamixel::PacketHandler *packet_handler = dynamixel::PacketHandler::getPacketHandler(device->protocol_version_);
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if (item->access_type_ == Read)
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return;
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queue_mutex_.lock();
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direct_sync_write_.push_back(new dynamixel::GroupSyncWrite(port, packet_handler, item->address_, msg->data_length));
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fprintf(stderr, " #3 \n");
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direct_sync_write_[direct_sync_write_.size() - 1]->addParam(device->id_, (uint8_t *)(msg->data.data()));
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fprintf(stderr, "[WriteControlTable] %s -> %s : ", msg->joint_name.c_str(), msg->start_item_name.c_str());
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for (auto &dt : msg->data)
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fprintf(stderr, "%02X ", dt);
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fprintf(stderr, "\n");
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queue_mutex_.unlock();
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}
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void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg)
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