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‎.gitignore‎

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/robotis_device/devices/dynamixel/H54-100-B210-R-NR.device

‎LICENSE‎

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Software License Agreement (BSD License)
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Copyright (c) 2014, ROBOTIS Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of ROBOTIS nor the names of its contributors may be
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used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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Software License Agreement (BSD License)
2+
3+
Copyright (c) 2014, ROBOTIS Inc.
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All rights reserved.
5+
6+
Redistribution and use in source and binary forms, with or without
7+
modification, are permitted provided that the following conditions are met:
8+
* Redistributions of source code must retain the above copyright
9+
notice, this list of conditions and the following disclaimer.
10+
* Redistributions in binary form must reproduce the above copyright
11+
notice, this list of conditions and the following disclaimer in the
12+
documentation and/or other materials provided with the distribution.
13+
* Neither the name of ROBOTIS nor the names of its contributors may be
14+
used to endorse or promote products derived from this software
15+
without specific prior written permission.
16+
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THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
19+
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
20+
IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
22+
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
23+
OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
24+
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
25+
OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md‎

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# ROBOTIS-Framework
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ROBOTIS Framework GIT REP MAIN
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Documents : [ROBOTIS Framework WIKI](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/ROBOTIS-ROS-Framework-Documents)
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# ROBOTIS-Framework
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ROBOTIS Framework GIT REP MAIN
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Documents : [ROBOTIS Framework WIKI](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/ROBOTIS-ROS-Framework-Documents)

‎robotis_controller/CHANGELOG.rst‎

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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
8-
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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
23-
* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
1+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2+
Changelog for package robotis_controller
3+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
4+
5+
0.1.1 (2016-08-18)
6+
-----------
7+
* updated the package information
8+
9+
0.1.0 (2016-08-12)
10+
-----------
11+
* first public release for Kinetic
12+
* modified the package information for release
13+
* develop branch -> master branch
14+
* function name changed : DeviceInit() -> InitDevice()
15+
* Fixed high CPU consumption due to busy waits
16+
* add SensorState
17+
add Singleton template
18+
* XM-430 / CM-740 device file added.
19+
Sensor device added.
20+
* added code to support the gazebo simulator
21+
* added first bulk read failure protection code
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* renewal
23+
* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo

‎robotis_controller/CMakeLists.txt‎

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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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################################################################################
25+
26+
################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
29+
30+
################################################################################
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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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################################################################################

‎robotis_controller/include/robotis_controller/robotis_controller.h‎

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File mode changed.

‎robotis_controller/package.xml‎

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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="[email protected]">Zerom</author>
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<maintainer email="[email protected]">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.
7+
</description>
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<license>BSD</license>
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<author email="[email protected]">Zerom</author>
10+
<maintainer email="[email protected]">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>
16+
<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>

‎robotis_controller/src/robotis_controller/robotis_controller.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -1409,6 +1409,7 @@ void RobotisController::removeSensorModule(SensorModule *module)
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14101410
void RobotisController::writeControlTableCallback(const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)
14111411
{
1412+
fprintf(stderr, "[WriteControlTable] led control msg received\n");
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Device *device = NULL;
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14141415
auto dev_it1 = robot_->dxls_.find(msg->joint_name);
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return;
14301431
}
14311432
}
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1433+
fprintf(stderr, " #1 ");
14331434
ControlTableItem *item = NULL;
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auto item_it = device->ctrl_table_.find(msg->start_item_name);
14351436
if(item_it != device->ctrl_table_.end())
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14421443
return;
14431444
}
14441445

1446+
fprintf(stderr, " #2 ");
14451447
dynamixel::PortHandler *port = robot_->ports_[device->port_name_];
14461448
dynamixel::PacketHandler *packet_handler = dynamixel::PacketHandler::getPacketHandler(device->protocol_version_);
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14481450
if (item->access_type_ == Read)
14491451
return;
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1453+
queue_mutex_.lock();
1454+
1455+
14511456
direct_sync_write_.push_back(new dynamixel::GroupSyncWrite(port, packet_handler, item->address_, msg->data_length));
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1458+
fprintf(stderr, " #3 \n");
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14531460
direct_sync_write_[direct_sync_write_.size() - 1]->addParam(device->id_, (uint8_t *)(msg->data.data()));
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1462+
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)
1464+
fprintf(stderr, "%02X ", dt);
1465+
fprintf(stderr, "\n");
1466+
1467+
queue_mutex_.unlock();
1468+
14541469
}
14551470

14561471
void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::SyncWriteItem::ConstPtr &msg)

‎robotis_device/CHANGELOG.rst‎

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@@ -1,24 +1,24 @@
1-
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2-
Changelog for package robotis_device
3-
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
4-
5-
0.1.1 (2016-08-18)
6-
-----------
7-
* updated the package information
8-
9-
0.1.0 (2016-08-12)
10-
-----------
11-
* first public release for Kinetic
12-
* modified the package information for release
13-
* develop branch -> master branch
14-
* Setting the license to BSD.
15-
* add SensorState
16-
add Singleton template
17-
* XM-430 / CM-740 device file added.
18-
Sensor device added.
19-
* modified.
20-
* variable name changed.
21-
ConvertRadian2Value / ConvertValue2Radian function bug fixed.
22-
* added code to support the gazebo simulator
23-
* renewal
24-
* Contributors: ROBOTIS, ROBOTIS-zerom, pyo
1+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2+
Changelog for package robotis_device
3+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
4+
5+
0.1.1 (2016-08-18)
6+
-----------
7+
* updated the package information
8+
9+
0.1.0 (2016-08-12)
10+
-----------
11+
* first public release for Kinetic
12+
* modified the package information for release
13+
* develop branch -> master branch
14+
* Setting the license to BSD.
15+
* add SensorState
16+
add Singleton template
17+
* XM-430 / CM-740 device file added.
18+
Sensor device added.
19+
* modified.
20+
* variable name changed.
21+
ConvertRadian2Value / ConvertValue2Radian function bug fixed.
22+
* added code to support the gazebo simulator
23+
* renewal
24+
* Contributors: ROBOTIS, ROBOTIS-zerom, pyo

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