#include <hardware_interface.hpp>

Inheritance diagram for dynamixel::DynamixelHardwareInterface< Protocol >:

Public Types
using	id_t = typename Protocol::id_t

Public Member Functions
	DynamixelHardwareInterface ()

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual void	read (const ros::Time &time, const ros::Duration &elapsed_time)

virtual void	write (const ros::Time &time, const ros::Duration &elapsed_time)

	~DynamixelHardwareInterface ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

	RobotHW ()

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Private Types
using	dynamixel_servo = std::shared_ptr< dynamixel::servos::BaseServo< Protocol >>

Private Member Functions
void	_enable_and_configure_servo (dynamixel_servo servo, OperatingMode mode)

void	_enforce_limits (const ros::Duration &loop_period)

bool	_find_servos ()

bool	_get_ros_parameters (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

bool	_load_urdf (ros::NodeHandle &nh, std::string param_name)

void	_register_joint_limits (const hardware_interface::JointHandle &cmd_handle, id_t id)

dynamixel::OperatingMode	_str2mode (const std::string &mode_string, std::string name)

	DynamixelHardwareInterface (DynamixelHardwareInterface< Protocol > const &)=delete

DynamixelHardwareInterface &	operator= (DynamixelHardwareInterface< Protocol > const &)=delete

Private Attributes
int	_baudrate

std::unordered_map< id_t, OperatingMode >	_c_mode_map

dynamixel::controllers::Usb2Dynamixel	_dynamixel_controller

std::unordered_map< id_t, double >	_dynamixel_corrections

std::unordered_map< id_t, std::string >	_dynamixel_map

std::unordered_map< id_t, double >	_dynamixel_max_speed

std::unordered_map< id_t, bool >	_invert

hardware_interface::PositionJointInterface	_jnt_pos_interface

joint_limits_interface::PositionJointSoftLimitsInterface	_jnt_pos_lim_interface

joint_limits_interface::PositionJointSaturationInterface	_jnt_pos_sat_interface

hardware_interface::JointStateInterface	_jnt_state_interface

hardware_interface::VelocityJointInterface	_jnt_vel_interface

joint_limits_interface::VelocityJointSoftLimitsInterface	_jnt_vel_lim_interface

joint_limits_interface::VelocityJointSaturationInterface	_jnt_vel_sat_interface

std::vector< double >	_joint_angles

std::vector< double >	_joint_commands

std::vector< double >	_joint_efforts

std::vector< double >	_joint_velocities

ros::NodeHandle	_nh

std::vector< double >	_prev_commands

float	_read_timeout

float	_scan_timeout

std::vector< dynamixel_servo >	_servos

std::shared_ptr< urdf::Model >	_urdf_model

std::string	_usb_serial_interface

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

template<class Protocol>
class dynamixel::DynamixelHardwareInterface< Protocol >

Hardware interface for a set of dynamixel actuators.

This class fits in the ros_control framework for robot control.

Warning: this code is currently limited to joint-mode dynamixel actuators

Definition at line 36 of file hardware_interface.hpp.

Member Typedef Documentation

template<class Protocol>

using dynamixel::DynamixelHardwareInterface< Protocol >::dynamixel_servo = std::shared_ptr<dynamixel::servos::BaseServo<Protocol>>

private

Definition at line 69 of file hardware_interface.hpp.

template<class Protocol>

using dynamixel::DynamixelHardwareInterface< Protocol >::id_t = typename Protocol::id_t

Definition at line 39 of file hardware_interface.hpp.

Constructor & Destructor Documentation

template<class Protocol>

dynamixel::DynamixelHardwareInterface< Protocol >::DynamixelHardwareInterface ( )

inline

Definition at line 41 of file hardware_interface.hpp.

template<class Protocol >

dynamixel::DynamixelHardwareInterface< Protocol >::~DynamixelHardwareInterface ( )

Definition at line 134 of file hardware_interface.hpp.

template<class Protocol>

dynamixel::DynamixelHardwareInterface< Protocol >::DynamixelHardwareInterface ( DynamixelHardwareInterface< Protocol > const & )

privatedelete

Member Function Documentation

template<class Protocol >

void dynamixel::DynamixelHardwareInterface< Protocol >::_enable_and_configure_servo	(	dynamixel_servo	servo,
		OperatingMode	mode
	)

private

Enable torque output for a joint and send it the relevant settings.

For now, these settings are only the speed limit.

Parameters

servo	the actuator concerned
mode	operating mode of the actuator (e.g. position or velocity, in dynamixel speech, joint, wheel, etc.)

Definition at line 663 of file hardware_interface.hpp.

template<class Protocol >

void dynamixel::DynamixelHardwareInterface< Protocol >::_enforce_limits ( const ros::Duration & loop_period )

private

Definition at line 829 of file hardware_interface.hpp.

template<class Protocol >

bool dynamixel::DynamixelHardwareInterface< Protocol >::_find_servos ( )

private

Search for the requested servos

Servos that were not requested are ignored and the software complain if any required one misses.

Returns: true if and only if there was no error

Definition at line 596 of file hardware_interface.hpp.

template<class Protocol >

bool dynamixel::DynamixelHardwareInterface< Protocol >::_get_ros_parameters	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

private

Retrieve all needed ROS parameters

Returns: true if and only if all went well

Definition at line 435 of file hardware_interface.hpp.

template<class Protocol >

bool dynamixel::DynamixelHardwareInterface< Protocol >::_load_urdf	(	ros::NodeHandle &	nh,
		std::string	param_name
	)

private

Search for the robot's URDF model on the parameter server and parse it

Parameters

nh	NodeHandle used to query for the URDF
param_name	name of the ROS parameter holding the robot model
urdf_model	pointer to be populated by this function

Definition at line 575 of file hardware_interface.hpp.

template<class Protocol >

void dynamixel::DynamixelHardwareInterface< Protocol >::_register_joint_limits	(	const hardware_interface::JointHandle &	cmd_handle,
		id_t	id
	)

private

Definition at line 710 of file hardware_interface.hpp.

template<class Protocol >

dynamixel::OperatingMode dynamixel::DynamixelHardwareInterface< Protocol >::_str2mode	(	const std::string &	mode_string,
		std::string	name
	)

private

Convert a string to an operating mode for a Dynamixel servo

Parameters

mode_string	name of the operating mode (either velocity or position)
nam	name of the joint

Returns: dynamixel::OperatingMode::unknown if mode_string is not recognized

Definition at line 550 of file hardware_interface.hpp.

template<class Protocol >

bool dynamixel::DynamixelHardwareInterface< Protocol >::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

Initialise the whole hardware interface.

Set the essential parameters for communication with the hardware and find all connected devices and register those referred in dynamixel_map in the hardware interface.

Reimplemented from hardware_interface::RobotHW.

Definition at line 152 of file hardware_interface.hpp.

template<class Protocol>

DynamixelHardwareInterface& dynamixel::DynamixelHardwareInterface< Protocol >::operator= ( DynamixelHardwareInterface< Protocol > const & )

privatedelete

template<class Protocol >

void dynamixel::DynamixelHardwareInterface< Protocol >::read	(	const ros::Time &	time,
		const ros::Duration &	elapsed_time
	)

virtual

Copy joint's information to memory

firstly queries the information from the dynamixels, then put it in private attributes, for use by a controller.

Warning: do not get any information on torque

Reimplemented from hardware_interface::RobotHW.

Definition at line 274 of file hardware_interface.hpp.

template<class Protocol >

void dynamixel::DynamixelHardwareInterface< Protocol >::write	(	const ros::Time &	time,
		const ros::Duration &	elapsed_time
	)

virtual

Send new joint's target position to dynamixels

takes the target position from memory (given by a controller) and sends them to the dynamixels.

Reimplemented from hardware_interface::RobotHW.

Definition at line 357 of file hardware_interface.hpp.

Member Data Documentation

template<class Protocol>

int dynamixel::DynamixelHardwareInterface< Protocol >::_baudrate

private

Definition at line 108 of file hardware_interface.hpp.

template<class Protocol>

std::unordered_map<id_t, OperatingMode> dynamixel::DynamixelHardwareInterface< Protocol >::_c_mode_map

private

Definition at line 118 of file hardware_interface.hpp.

template<class Protocol>

dynamixel::controllers::Usb2Dynamixel dynamixel::DynamixelHardwareInterface< Protocol >::_dynamixel_controller

private

Definition at line 111 of file hardware_interface.hpp.

template<class Protocol>

std::unordered_map<id_t, double> dynamixel::DynamixelHardwareInterface< Protocol >::_dynamixel_corrections

private

Definition at line 124 of file hardware_interface.hpp.

template<class Protocol>

std::unordered_map<id_t, std::string> dynamixel::DynamixelHardwareInterface< Protocol >::_dynamixel_map

private

Definition at line 116 of file hardware_interface.hpp.

template<class Protocol>

std::unordered_map<id_t, double> dynamixel::DynamixelHardwareInterface< Protocol >::_dynamixel_max_speed

private

Definition at line 122 of file hardware_interface.hpp.

template<class Protocol>

std::unordered_map<id_t, bool> dynamixel::DynamixelHardwareInterface< Protocol >::_invert

private

Definition at line 120 of file hardware_interface.hpp.

template<class Protocol>

hardware_interface::PositionJointInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_pos_interface

private

Definition at line 89 of file hardware_interface.hpp.

template<class Protocol>

joint_limits_interface::PositionJointSoftLimitsInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_pos_lim_interface

private

Definition at line 93 of file hardware_interface.hpp.

template<class Protocol>

joint_limits_interface::PositionJointSaturationInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_pos_sat_interface

private

Definition at line 95 of file hardware_interface.hpp.

template<class Protocol>

hardware_interface::JointStateInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_state_interface

private

Definition at line 88 of file hardware_interface.hpp.

template<class Protocol>

hardware_interface::VelocityJointInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_vel_interface

private

Definition at line 90 of file hardware_interface.hpp.

template<class Protocol>

joint_limits_interface::VelocityJointSoftLimitsInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_vel_lim_interface

private

Definition at line 94 of file hardware_interface.hpp.

template<class Protocol>

joint_limits_interface::VelocityJointSaturationInterface dynamixel::DynamixelHardwareInterface< Protocol >::_jnt_vel_sat_interface

private

Definition at line 96 of file hardware_interface.hpp.

template<class Protocol>

std::vector<double> dynamixel::DynamixelHardwareInterface< Protocol >::_joint_angles

private

Definition at line 102 of file hardware_interface.hpp.

template<class Protocol>

std::vector<double> dynamixel::DynamixelHardwareInterface< Protocol >::_joint_commands

private

Definition at line 101 of file hardware_interface.hpp.

template<class Protocol>

std::vector<double> dynamixel::DynamixelHardwareInterface< Protocol >::_joint_efforts

private

Definition at line 104 of file hardware_interface.hpp.

template<class Protocol>

std::vector<double> dynamixel::DynamixelHardwareInterface< Protocol >::_joint_velocities

private

Definition at line 103 of file hardware_interface.hpp.

template<class Protocol>

ros::NodeHandle dynamixel::DynamixelHardwareInterface< Protocol >::_nh

private

Definition at line 127 of file hardware_interface.hpp.

template<class Protocol>

std::vector<double> dynamixel::DynamixelHardwareInterface< Protocol >::_prev_commands

private

Definition at line 100 of file hardware_interface.hpp.

template<class Protocol>

float dynamixel::DynamixelHardwareInterface< Protocol >::_read_timeout

private

Definition at line 109 of file hardware_interface.hpp.

template<class Protocol>

float dynamixel::DynamixelHardwareInterface< Protocol >::_scan_timeout

private

Definition at line 109 of file hardware_interface.hpp.

template<class Protocol>

std::vector<dynamixel_servo> dynamixel::DynamixelHardwareInterface< Protocol >::_servos

private

Definition at line 114 of file hardware_interface.hpp.

template<class Protocol>

std::shared_ptr<urdf::Model> dynamixel::DynamixelHardwareInterface< Protocol >::_urdf_model

private

Definition at line 130 of file hardware_interface.hpp.

template<class Protocol>

std::string dynamixel::DynamixelHardwareInterface< Protocol >::_usb_serial_interface

private

Definition at line 107 of file hardware_interface.hpp.

The documentation for this class was generated from the following file:

hardware_interface.hpp

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class Protocol> class dynamixel::DynamixelHardwareInterface< Protocol >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class Protocol>
class dynamixel::DynamixelHardwareInterface< Protocol >