00001 00027 #include <sr_edc_ethercat_drivers/sr0x.h> 00028 00029 #include <sstream> 00030 #include <iomanip> 00031 #include <boost/foreach.hpp> 00032 00033 #include <math.h> 00034 00035 PLUGINLIB_EXPORT_CLASS(SR0X, EthercatDevice); 00036 00037 int SR0X::initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed) 00038 { 00039 ROS_DEBUG("Device #%02d: SR0%d (%#08x) Firmware Revision %d.%02d, PCB Revision %c.%02d, Serial #: %d", 00040 sh_->get_ring_position(), 00041 sh_->get_product_code() % 100, 00042 sh_->get_product_code(), fw_major_, fw_minor_, 00043 'A' + board_major_, board_minor_, 00044 sh_->get_serial()); 00045 00046 device_offset_ = sh_->get_ring_position(); // - hand_->getBridgeRingPosition(); 00047 00048 return 0; 00049 }