- changed all values read by bulk read are saved to dxl_state_->bulk_read_table_.

Author: ROBOTIS-zerom

robotis_controller/src/robotis_controller/robotis_controller.cpp

@@ -499,7 +499,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
           bulkread_data_length += addr_leng;
           for (int l = 0; l < addr_leng; l++)
           {
-//            ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l);
+            //ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
             read2Byte(joint_name, indirect_addr, &data16);
             if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l)
             {
@@ -946,8 +946,8 @@ void RobotisController::process()
                   dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
                 else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
                   dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data);
-                else
-                  dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
+
+                dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
               }
             }
 
@@ -1166,8 +1166,8 @@ void RobotisController::process()
                   dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
                 else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
                   dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data);
-                else
-                  dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
+
+                dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
               }
             }
 
@@ -1251,7 +1251,7 @@ void RobotisController::process()
 
             if (result_state == NULL)
             {
-              fprintf(stderr, "[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str());
+              ROS_ERROR("[%s] %s ", (*module_it)->getModuleName().c_str(), joint_name.c_str());
               continue;
             }