Initial commit

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(arm-control)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+

Findarm_control.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(arm_control_INCLUDE_DIR arm_control.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(arm_control_LIBRARY
+    NAMES arm_control
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (arm_control_INCLUDE_DIR AND arm_control_LIBRARY)
+   SET(arm_control_FOUND TRUE)
+ENDIF (arm_control_INCLUDE_DIR AND arm_control_LIBRARY)
+
+IF (arm_control_FOUND)
+   IF (NOT arm_control_FIND_QUIETLY)
+      MESSAGE(STATUS "Found arm_control: ${arm_control_LIBRARY}")
+   ENDIF (NOT arm_control_FIND_QUIETLY)
+ELSE (arm_control_FOUND)
+   IF (arm_control_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find arm_control")
+   ENDIF (arm_control_FIND_REQUIRED)
+ENDIF (arm_control_FOUND)
+

ReadMe.md

+arm_control                        {#mainpage}
+============
+
+## Description
+
+ARM control driver
+
+## Dependencies
+
+This package requires of the following system libraries and packages
+
+* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
+* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
+* stdc++ and pthread libraries.
+
+Under linux all of these utilities are available in ready-to-use packages.
+
+Under MacOS most of the packages are available via [fink](http://www.finkproject.org/ "Fink's Homepage")
+
+This package also requires of the following IRI libraries:
+
+## Compilation and installation
+
+Download this repository and create a build folder inside:
+
+``` mkdir build ```
+
+Inside the build folder execute the following commands:
+
+``` cmake .. ```
+
+The default build mode is DEBUG. That is, objects and executables include debug information.
+
+The RELEASE build mode optimizes for speed. To build in this mode execute instead
+``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
+
+The release mode will be kept until next time cmake is executed.
+
+``` make ``` 
+
+In case no errors are reported, the generated libraries (if any) will be located at the
+_lib_ folder and the executables (if any) will be located at the _bin_ folder.
+
+In order to be able to use the library, it it necessary to copy it into the system.
+To do that, execute
+
+``` make install ```
+
+as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
+and the header files will be copied to */usr/local/include/iridrivers* dierctory. At
+this point, the library may be used by any user.
+
+To remove the library from the system, exceute
+
+``` make uninstall ```
+
+as root, and all the associated files will be removed from the system.
+
+To generate the documentation execute the following command:
+
+``` make doc ```
+
+## How to use it
+
+To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
+
+``` FIND_PACKAGE(arm_control) ```
+
+In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
+
+``` INCLUDE_DIRECTORIES(${arm_control_INCLUDE_DIR}) ```
+
+and it is also necessary to link with the desired libraries by using the following command
+
+``` TARGET_LINK_LIBRARIES(<executable name> ${arm_control_LIBRARY}) ```
+
+## Disclaimer  
+
+Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../include \
+                         ../ReadMe.md
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "arm_control"

include/arm_control.h

+#ifndef _ARM_CONTROL_H
+#define _ARM_CONTROL_H
+
+#include "dynamixelserver_ftdi.h"
+#include "dynamixel_motor.h"
+#include "threadserver.h"
+#include "eventserver.h"
+#include "joystick.h"
+
+typedef enum {PAN=0,TILT=1,ROLL=2} motor_id_t;
+
+typedef struct
+{
+  double pan;
+  double tilt;
+  double roll;
+}TJoints;
+
+class CArmControl
+{
+  private:
+    bool exit_flag;
+    CThreadServer *thread_server;
+    std::string position_monitor_thread_id;
+    CEventServer *event_server;
+    std::string finish_thread_event_id;
+    std::vector<CDynamixelMotor *> motors;
+    CDynamixelServerFTDI *dyn_server;
+    CJoystick joy;
+    std::vector<bool> current_button_state;
+    double max_speed;
+    TJoints max_angles;
+    TJoints min_angles;
+    TJoints max_torques;
+    TJoints target_torques;
+    std::vector<TJoints> stored_poses;
+    std::string poses_file;
+  protected:
+    static void *position_monitor_thread(void *param);
+  public:
+    CArmControl(const std::string &joy_device,std::string &dyn_serial, unsigned int baudrate,unsigned char pan_id, unsigned char tilt_id, unsigned char roll_id);
+    bool get_button_state(unsigned int button_id);
+    bool exit(void);
+    // servo functionis
+    void set_max_angles(unsigned int axis_id,double max,double min);
+    void set_max_torque(unsigned int axis_id,double max);
+    void enable_torque(bool enable);
+    void move(unsigned int axis_id,double torque);
+    void stop(void);
+    // stored poses
+    void set_poses_max_speed(double max);
+    void load_poses(const std::string &filename);
+    void save_poses(const std::string &filename);
+    void update_pose(unsigned int pose_id);
+    void execute_pose(unsigned int pose_id);
+    ~CArmControl();
+};
+
+#endif

src/CMakeLists.txt

+ADD_SUBDIRECTORY(xml)
+
+# driver source files
+SET(sources arm_control.cpp)
+# application header files
+SET(headers ../include/arm_control.h)
+# locate the necessary dependencies
+FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(joystick REQUIRED)
+FIND_PACKAGE(comm REQUIRED)
+FIND_PACKAGE(dynamixel REQUIRED)
+FIND_PACKAGE(dynamixel_motor_cont REQUIRED)
+# add the necessary include directories
+INCLUDE_DIRECTORIES(../include)
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${joystick_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${dynamixel_motor_cont_INCLUDE_DIR})
+
+SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
+# create the shared library
+ADD_LIBRARY(arm_control SHARED ${sources} ${XSD_SOURCES})
+TARGET_LINK_LIBRARIES(arm_control ${iriutils_LIBRARY})
+TARGET_LINK_LIBRARIES(arm_control ${joystick_LIBRARY})
+TARGET_LINK_LIBRARIES(arm_control ${comm_LIBRARY})
+TARGET_LINK_LIBRARIES(arm_control ${dynamixel_LIBRARY})
+TARGET_LINK_LIBRARIES(arm_control ${dynamixel_motor_cont_LIBRARY})
+TARGET_LINK_LIBRARIES(arm_control ${XSD_LIBRARY})
+
+ADD_DEPENDENCIES(arm_control xsd_files_gen)
+
+# link necessary libraries
+INSTALL(TARGETS arm_control
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib/iridrivers
+        ARCHIVE DESTINATION lib/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ../Findarm_control.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+ADD_SUBDIRECTORY(examples)

src/arm_control.cpp

+#include "arm_control.h"
+#include "exceptions.h"
+#include <iostream>
+#include <fstream>
+#include <unistd.h>
+#include <sys/select.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <linux/joystick.h>
+#include "xml/arm_motions_cfg_file.hxx"
+
+void button_callback(void *param,unsigned int button_id,bool level)
+{
+  CArmControl *arm=(CArmControl *)param;
+
+  try{
+    switch(button_id)
+    {
+      case 8: if(level)
+                arm->enable_torque(false); 
+              else
+                arm->enable_torque(true);
+              break;
+      case 10: if(!level)
+               {
+                 // button rear left 1 released -> keep position
+                 arm->stop();
+               }
+               break;
+      case 12: if(level)
+               {
+                 if(arm->get_button_state(11))
+                   arm->update_pose(0);// update circle pose
+                 else
+                   arm->execute_pose(0);// execute circle pose
+               }
+               break; 
+      case 13: if(level)
+               {
+                 if(arm->get_button_state(11))
+                   arm->update_pose(1);// update circle pose
+                 else
+                   arm->execute_pose(1);// execute circle pose
+               }
+               break; 
+      case 14: if(level)
+               {
+                 if(arm->get_button_state(11))
+                   arm->update_pose(2);// update circle pose
+                 else
+                   arm->execute_pose(2);// execute circle pose
+               }
+               break; 
+      case 15: if(level)
+               {
+                 if(arm->get_button_state(11))
+                   arm->update_pose(3);// update circle pose
+                 else
+                   arm->execute_pose(3);// execute circle pose
+               }
+               break; 
+    }
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+}
+
+void axis_callback(void *param,unsigned int axis_id, float value)
+{
+  CArmControl *arm=(CArmControl *)param;
+
+  try{
+    switch(axis_id)
+    {
+      case 0: if(arm->get_button_state(10))
+                arm->move(PAN,value);
+              break;
+      case 1: if(arm->get_button_state(10))
+                arm->move(TILT,value);
+              break;
+      case 2: if(arm->get_button_state(10))
+                arm->move(ROLL,value);
+              break;
+    }
+  }catch(CException &e){
+    std::cout << e.what() << std::endl;
+  }
+}
+
+CArmControl::CArmControl(const std::string &joy_device,std::string &dyn_serial, unsigned int baudrate,unsigned char pan_id, unsigned char tilt_id, unsigned char roll_id) : joy("arm_control_jpy")
+{
+  std::string name;
+