#include <unistd.h>
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
#include <cmath>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <string>
#include <vector>
#include <time.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <controller_manager/controller_manager.h>
#include <hardware_interface/posvel_command_interface.h>
#include "dynamixel_sdk/dynamixel_sdk.h"
#include <ros/package.h>
#include "yaml-cpp/yaml.h"
#include <ros/ros.h>
#include <robotican_hardware_interface/Device.h>
#include <robotican_hardware_interface/RiCBoardManager.h>
Go to the source code of this file.
#define ADDR_MX_GOAL_POSITION 116 |
Definition at line 52 of file armadillo2_hardware_interface.h.
#define ADDR_MX_HARDWARE_ERROR 70 |
Definition at line 59 of file armadillo2_hardware_interface.h.
#define ADDR_MX_MODEL_NUM 30 |
Definition at line 50 of file armadillo2_hardware_interface.h.
#define ADDR_MX_MOVING 122 |
Definition at line 58 of file armadillo2_hardware_interface.h.
#define ADDR_MX_PRESENT_LOAD 126 |
Definition at line 56 of file armadillo2_hardware_interface.h.
#define ADDR_MX_PRESENT_POSITION 132 |
Definition at line 54 of file armadillo2_hardware_interface.h.
#define ADDR_MX_PRESENT_SPEED 128 |
Definition at line 55 of file armadillo2_hardware_interface.h.
#define ADDR_MX_PRESENT_TEMPERATURE 146 |
Definition at line 57 of file armadillo2_hardware_interface.h.
#define ADDR_MX_PROFILE_VELOCITY 112 |
Definition at line 53 of file armadillo2_hardware_interface.h.
#define ADDR_MX_TORQUE_ENABLE 64 |
Definition at line 51 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_GOAL_ACCELERATION 606 |
Definition at line 66 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_GOAL_POSITION 596 |
Definition at line 64 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_GOAL_SPEED 600 |
Definition at line 65 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_HARDWARE_ERROR 892 |
Definition at line 72 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_MODEL_NUM 0 |
Definition at line 62 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_MOVING 46 |
Definition at line 71 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_PRESENT_CURRENT 621 |
Definition at line 69 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_PRESENT_POSITION 611 |
Definition at line 67 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_PRESENT_SPEED 615 |
Definition at line 68 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_PRESENT_TEMPERATURE 43 |
Definition at line 70 of file armadillo2_hardware_interface.h.
#define ADDR_PRO_TORQUE_ENABLE 562 |
Definition at line 63 of file armadillo2_hardware_interface.h.
#define ADDR_XH_GOAL_ACCELERATION 40 |
Definition at line 82 of file armadillo2_hardware_interface.h.
#define ADDR_XH_GOAL_POSITION 116 |
Definition at line 78 of file armadillo2_hardware_interface.h.
#define ADDR_XH_GOAL_SPEED 104 |
Definition at line 79 of file armadillo2_hardware_interface.h.
#define ADDR_XH_HARDWARE_ERROR 70 |
Definition at line 88 of file armadillo2_hardware_interface.h.
#define ADDR_XH_MODEL_NUM 1040 |
Definition at line 76 of file armadillo2_hardware_interface.h.
#define ADDR_XH_MOVING 123 |
Definition at line 87 of file armadillo2_hardware_interface.h.
#define ADDR_XH_PRESENT_CURRENT 126 |
Definition at line 85 of file armadillo2_hardware_interface.h.
#define ADDR_XH_PRESENT_POSITION 132 |
Definition at line 83 of file armadillo2_hardware_interface.h.
#define ADDR_XH_PRESENT_SPEED 128 |
Definition at line 84 of file armadillo2_hardware_interface.h.
#define ADDR_XH_PRESENT_TEMPERATURE 146 |
Definition at line 86 of file armadillo2_hardware_interface.h.
#define ADDR_XH_PROFILE_VELOCITY 112 |
Definition at line 81 of file armadillo2_hardware_interface.h.
#define ADDR_XH_TORQUE_ENABLE 64 |
Definition at line 77 of file armadillo2_hardware_interface.h.
#define ADDR_XH_VELOCITY_LIMIT 44 |
Definition at line 80 of file armadillo2_hardware_interface.h.
#define PROTOCOL_VERSION1 1.0 |
Definition at line 91 of file armadillo2_hardware_interface.h.
#define PROTOCOL_VERSION2 2.0 |
Definition at line 92 of file armadillo2_hardware_interface.h.