dynamixel_hardware_interface
Links
Rosindex
C++ API
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace dynamixel_hardware_interface
Namespace hardware_interface
Namespace rclcpp
Classes and Structs
Struct ControlItem
Struct DxlInfo
Struct HandlerVarType_
Struct IndirectInfo
Struct RWItemBufInfo
Struct RWItemList
Class Dynamixel
Class DynamixelHardware
Class DynamixelInfo
Enums
Enum DxlError
Enum DxlStatus
Enum DxlTorqueStatus
Variables
Variable dynamixel_hardware_interface::HW_IF_HARDWARE_STATE
Variable dynamixel_hardware_interface::HW_IF_TORQUE_ENABLE
Defines
Define BULK
Define DXL_CURRENT_CTRL_MODE
Define DXL_POSITION_CTRL_MODE
Define DXL_VELOCITY_CTRL_MODE
Define DYNAMIXEL_HARDWARE_INTERFACE_EXPORT
Define DYNAMIXEL_HARDWARE_INTERFACE_IMPORT
Define DYNAMIXEL_HARDWARE_INTERFACE_LOCAL
Define DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
Define DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC_TYPE
Define PRESENT_EFFORT_INDEX
Define PRESENT_POSITION_INDEX
Define PRESENT_VELOCITY_INDEX
Define SYNC
Define TORQUE_OFF
Define TORQUE_ON
Typedefs
Typedef dynamixel_hardware_interface::DxlStatus
Typedef dynamixel_hardware_interface::DxlTorqueStatus
Typedef dynamixel_hardware_interface::HandlerVarType
Directories
Directory include
Directory dynamixel_hardware_interface
Directory dynamixel
Files
File dynamixel.hpp
File dynamixel_hardware_interface.hpp
File dynamixel_info.hpp
File visibility_control.h
Standard Documents
CHANGELOG
Changelog for package dynamixel_hardware_interface
1.3.0 (2025-02-17)
1.2.0 (2025-01-17)
1.1.0 (2024-12-27)
1.0.0 (2024-12-04)
CONTRIBUTING
PACKAGE
README
Dynamixel Hardware Interface User Guide
1. Introduction
2.
Prerequisites
3. Installation
4. Currently Used Packages
5. Configuration
6. Usage
7. Contributing
8. License
LICENSE
Index
dynamixel_hardware_interface
C++ API
Class Dynamixel
View page source
Class Dynamixel
Defined in
File dynamixel.hpp
Class Documentation
class
Dynamixel
Public Functions
explicit
Dynamixel
(
const
char
*
path
)
~Dynamixel
(
)
DxlError
InitDxlComm
(
std
::
vector
<
uint8_t
>
id_arr
,
std
::
string
port_name
,
std
::
string
baudrate
)
DxlError
Reboot
(
uint8_t
id
)
void
RWDataReset
(
)
DxlError
SetDxlReadItems
(
uint8_t
id
,
std
::
vector
<
std
::
string
>
item_names
,
std
::
vector
<
std
::
shared_ptr
<
double
>
>
data_vec_ptr
)
DxlError
SetMultiDxlRead
(
)
DxlError
SetDxlWriteItems
(
uint8_t
id
,
std
::
vector
<
std
::
string
>
item_names
,
std
::
vector
<
std
::
shared_ptr
<
double
>
>
data_vec_ptr
)
DxlError
SetMultiDxlWrite
(
)
DxlError
ReadMultiDxlData
(
)
DxlError
WriteMultiDxlData
(
)
DxlError
SetOperatingMode
(
uint8_t
id
,
uint8_t
dynamixel_mode
)
DxlError
DynamixelEnable
(
std
::
vector
<
uint8_t
>
id_arr
)
DxlError
DynamixelDisable
(
std
::
vector
<
uint8_t
>
id_arr
)
DxlError
WriteItem
(
uint8_t
id
,
std
::
string
item_name
,
uint32_t
data
)
DxlError
WriteItem
(
uint8_t
id
,
uint16_t
addr
,
uint8_t
size
,
uint32_t
data
)
DxlError
InsertWriteItemBuf
(
uint8_t
id
,
std
::
string
item_name
,
uint32_t
data
)
DxlError
WriteItemBuf
(
)
DxlError
ReadItem
(
uint8_t
id
,
std
::
string
item_name
,
uint32_t
&
data
)
DxlError
InsertReadItemBuf
(
uint8_t
id
,
std
::
string
item_name
)
DxlError
ReadItemBuf
(
)
bool
CheckReadItemBuf
(
uint8_t
id
,
std
::
string
item_name
)
uint32_t
GetReadItemDataBuf
(
uint8_t
id
,
std
::
string
item_name
)
inline
DynamixelInfo
GetDxlInfo
(
)
inline
std
::
map
<
uint8_t
,
bool
>
GetDxlTorqueState
(
)
Public Static Functions
static
std
::
string
DxlErrorToString
(
DxlError
error_num
)