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Commit 1bbe1f76 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Dynamixel_pan_tilt ROS driver-> updated the launch files.

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cfg/DynamixelPanTilt.cfg
+ 2
− 2
View file @ 1bbe1f76
...@@ -52,7 +52,7 @@ gen.add("pan_tilt_configuration_file", str_t, SensorLevels.RECONFIGURE_CLOSE, "T ...@@ -52,7 +52,7 @@ gen.add("pan_tilt_configuration_file", str_t, SensorLevels.RECONFIGURE_CLOSE, "T
gen.add("server_configuration_file", str_t, SensorLevels.RECONFIGURE_CLOSE, "The xml configuration file") gen.add("server_configuration_file", str_t, SensorLevels.RECONFIGURE_CLOSE, "The xml configuration file")
gen.add("pan_tilt_name", str_t, SensorLevels.RECONFIGURE_CLOSE, "The pan&tilt human friendly name", "PAN-TILT-AX-12+") gen.add("pan_tilt_name", str_t, SensorLevels.RECONFIGURE_CLOSE, "The pan&tilt human friendly name", "PAN-TILT-AX-12+")
gen.add("pan_id", int_t, SensorLevels.RECONFIGURE_CLOSE, "The pan ID", 13, 0, 253) gen.add("pan_id", int_t, SensorLevels.RECONFIGURE_CLOSE, "The pan ID", 1, 0, 253)
gen.add("tilt_id", int_t, SensorLevels.RECONFIGURE_CLOSE, "The tilt ID", 11, 0, 253) gen.add("tilt_id", int_t, SensorLevels.RECONFIGURE_CLOSE, "The tilt ID", 2, 0, 253)
exit(gen.generate(PACKAGE, "DynamixelPanTiltDriver", "DynamixelPanTilt")) exit(gen.generate(PACKAGE, "DynamixelPanTiltDriver", "DynamixelPanTilt"))
config/dyn_pan_tilt_config_AX12plus.xml
+ 3
− 3
View file @ 1bbe1f76
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
<temp_limit>85</temp_limit> <temp_limit>85</temp_limit>
<max_voltage>19</max_voltage> <max_voltage>19</max_voltage>
<min_voltage>6</min_voltage> <min_voltage>6</min_voltage>
<max_torque>40</max_torque> <max_torque>50</max_torque>
<cw_comp_margin>2</cw_comp_margin> <cw_comp_margin>2</cw_comp_margin>
<ccw_comp_margin>2</ccw_comp_margin> <ccw_comp_margin>2</ccw_comp_margin>
<cw_comp_slope>64</cw_comp_slope> <cw_comp_slope>64</cw_comp_slope>
...@@ -18,6 +18,6 @@ ...@@ -18,6 +18,6 @@
<kd>0</kd> <kd>0</kd>
<min_angle>-85</min_angle><!--PAN --> <min_angle>-85</min_angle><!--PAN -->
<max_angle>85</max_angle><!--PAN --> <max_angle>85</max_angle><!--PAN -->
<min_angle>-50</min_angle><!--TILT --> <min_angle>-60</min_angle><!--TILT -->
<max_angle>50</max_angle><!--TILT --> <max_angle>60</max_angle><!--TILT -->
</dynamixel_pan_tilt_config> </dynamixel_pan_tilt_config>
launch/pan_tilt_controller.launch
+ 68
− 13
View file @ 1bbe1f76
...@@ -6,6 +6,15 @@ ...@@ -6,6 +6,15 @@
name="pan_tilt" name="pan_tilt"
type="iri_dynamixel_pan_tilt" type="iri_dynamixel_pan_tilt"
output="screen"> output="screen">
<param name="mode"
type="int"
value="0"/>
<param name="pan_id"
type="int"
value="1"/>
<param name="tilt_id"
type="int"
value="2"/>
<param name="pan_tilt_configuration_file" <param name="pan_tilt_configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
...@@ -18,9 +27,24 @@ ...@@ -18,9 +27,24 @@
name="pan_comp_control_reconfig" name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/pan_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_pan_compliance_control"/> to="/pan_tilt/get_pan_compliance_control"/>
<remap from="/pan_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_pan_compliance_control"/> to="/pan_tilt/set_pan_compliance_control"/>
</node> </node>
...@@ -28,9 +52,24 @@ ...@@ -28,9 +52,24 @@
name="tilt_comp_control_reconfig" name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/tilt_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_tilt_compliance_control"/> to="/pan_tilt/get_tilt_compliance_control"/>
<remap from="/tilt_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_tilt_compliance_control"/> to="/pan_tilt/set_tilt_compliance_control"/>
</node> </node>
...@@ -44,18 +83,34 @@ ...@@ -44,18 +83,34 @@
name="PS3Joy" name="PS3Joy"
type="joy_node"/> type="joy_node"/>
<node pkg="iri_joy_to_jointtrajectorypoint" <node pkg="iri_dyn_pan_tilt_controller"
name="translator" name="pan_tilt_controller"
type="iri_joy_to_jointtrajectorypoint" type="iri_dyn_pan_tilt_controller"
output="screen"> output="screen">
<remap from="/translator/joy" <param name="invert_pan"
to="/joy"/> type="bool"
<remap from="/translator/joint_order" value="false"/>
to="/pan_tilt/dynamixel_pan_tilt_order"/> <param name="invert_tilt"
<remap from="/translator/set_mode" type="bool"
to="/pan_tilt/set_mode"/> value="false"/>
<param name="mode"
type="int"
value="0"/>
<param name="servo_max_speed_pan"
type="double"
value="6.18"/>
<param name="servo_max_speed_tilt"
type="double"
value="6.18"/>
<param name="configuration_file" <param name="configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
<remap from="~/joy"
to="/joy"/>
<remap from="~/joint_order"
to="/pan_tilt/dynamixel_pan_tilt_order"/>
<remap from="~/set_mode"
to="/pan_tilt/set_mode"/>
</node> </node>
</launch> </launch>
launch/pan_tilt_controller_display.launch
+ 67
− 13
View file @ 1bbe1f76
...@@ -6,6 +6,15 @@ ...@@ -6,6 +6,15 @@
name="pan_tilt" name="pan_tilt"
type="iri_dynamixel_pan_tilt" type="iri_dynamixel_pan_tilt"
output="screen"> output="screen">
<param name="mode"
type="int"
value="0"/>
<param name="pan_id"
type="int"
value="1"/>
<param name="tilt_id"
type="int"
value="2"/>
<param name="pan_tilt_configuration_file" <param name="pan_tilt_configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
...@@ -18,9 +27,24 @@ ...@@ -18,9 +27,24 @@
name="pan_comp_control_reconfig" name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/pan_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_pan_compliance_control"/> to="/pan_tilt/get_pan_compliance_control"/>
<remap from="/pan_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_pan_compliance_control"/> to="/pan_tilt/set_pan_compliance_control"/>
</node> </node>
...@@ -28,9 +52,24 @@ ...@@ -28,9 +52,24 @@
name="tilt_comp_control_reconfig" name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/tilt_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_tilt_compliance_control"/> to="/pan_tilt/get_tilt_compliance_control"/>
<remap from="/tilt_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_tilt_compliance_control"/> to="/pan_tilt/set_tilt_compliance_control"/>
</node> </node>
...@@ -44,19 +83,34 @@ ...@@ -44,19 +83,34 @@
name="PS3Joy" name="PS3Joy"
type="joy_node"/> type="joy_node"/>
<node pkg="iri_joy_to_jointtrajectorypoint" <node pkg="iri_dyn_pan_tilt_controller"
name="translator" name="pan_tilt_controller"
type="iri_joy_to_jointtrajectorypoint" type="iri_dyn_pan_tilt_controller"
output="screen"> output="screen">
<remap from="/translator/joy" <param name="invert_pan"
to="/joy"/> type="bool"
<remap from="/translator/joint_order" value="false"/>
to="/pan_tilt/dynamixel_pan_tilt_order"/> <param name="invert_tilt"
<remap from="/translator/set_mode" type="bool"
to="/pan_tilt/set_mode"/> value="false"/>
<param name="mode"
type="int"
value="0"/>
<param name="servo_max_speed_pan"
type="double"
value="6.18"/>
<param name="servo_max_speed_tilt"
type="double"
value="6.18"/>
<param name="configuration_file" <param name="configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
<remap from="~/joy"
to="/joy"/>
<remap from="~/joint_order"
to="/pan_tilt/dynamixel_pan_tilt_order"/>
<remap from="~/set_mode"
to="/pan_tilt/set_mode"/>
</node> </node>
<param name="robot_description" <param name="robot_description"
......
launch/pan_tilt_display.launch
+ 43
− 4
View file @ 1bbe1f76
...@@ -9,6 +9,15 @@ ...@@ -9,6 +9,15 @@
name="pan_tilt" name="pan_tilt"
type="iri_dynamixel_pan_tilt" type="iri_dynamixel_pan_tilt"
output="screen"> output="screen">
<param name="mode"
type="int"
value="0"/>
<param name="pan_id"
type="int"
value="1"/>
<param name="tilt_id"
type="int"
value="2"/>
<param name="pan_tilt_configuration_file" <param name="pan_tilt_configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
...@@ -21,9 +30,24 @@ ...@@ -21,9 +30,24 @@
name="pan_comp_control_reconfig" name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/pan_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_pan_compliance_control"/> to="/pan_tilt/get_pan_compliance_control"/>
<remap from="/pan_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_pan_compliance_control"/> to="/pan_tilt/set_pan_compliance_control"/>
</node> </node>
...@@ -31,9 +55,24 @@ ...@@ -31,9 +55,24 @@
name="tilt_comp_control_reconfig" name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/tilt_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="10"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_tilt_compliance_control"/> to="/pan_tilt/get_tilt_compliance_control"/>
<remap from="/tilt_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_tilt_compliance_control"/> to="/pan_tilt/set_tilt_compliance_control"/>
</node> </node>
......
launch/pan_tilt_solo.launch
+ 44
− 5
View file @ 1bbe1f76
<launch> <launch>
<arg name="reconfigure" <arg name="reconfigure"
default="false"/> default="true"/>
<arg name="publisher" <arg name="publisher"
default="false"/> default="false"/>
...@@ -9,6 +9,15 @@ ...@@ -9,6 +9,15 @@
name="pan_tilt" name="pan_tilt"
type="iri_dynamixel_pan_tilt" type="iri_dynamixel_pan_tilt"
output="screen"> output="screen">
<param name="mode"
type="int"
value="0"/>
<param name="pan_id"
type="int"
value="1"/>
<param name="tilt_id"
type="int"
value="2"/>
<param name="pan_tilt_configuration_file" <param name="pan_tilt_configuration_file"
type="string" type="string"
value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/> value="$(find iri_dynamixel_pan_tilt)/config/dyn_pan_tilt_config_AX12plus.xml"/>
...@@ -21,9 +30,24 @@ ...@@ -21,9 +30,24 @@
name="pan_comp_control_reconfig" name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/pan_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="3"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_pan_compliance_control"/> to="/pan_tilt/get_pan_compliance_control"/>
<remap from="/pan_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_pan_compliance_control"/> to="/pan_tilt/set_pan_compliance_control"/>
</node> </node>
...@@ -31,9 +55,24 @@ ...@@ -31,9 +55,24 @@
name="tilt_comp_control_reconfig" name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure" type="iri_compliance_control_reconfigure"
output="screen"> output="screen">
<remap from="/tilt_comp_control_reconfig/get_compliance_control" <param name="cw_compliance_margin"
type="double"
value="-1"/>
<param name="ccw_compliance_margin"
type="double"
value="-1"/>
<param name="cw_compliance_slope"
type="double"
value="-1"/>
<param name="ccw_compliance_slope"
type="double"
value="-1"/>
<param name="timeout"
type="double"
value="3"/>
<remap from="~/get_compliance_control"
to="/pan_tilt/get_tilt_compliance_control"/> to="/pan_tilt/get_tilt_compliance_control"/>
<remap from="/tilt_comp_control_reconfig/set_compliance_control" <remap from="~/set_compliance_control"
to="/pan_tilt/set_tilt_compliance_control"/> to="/pan_tilt/set_tilt_compliance_control"/>
</node> </node>
......
src/dynamixel_pan_tilt_driver.cpp
+ 0
− 2
View file @ 1bbe1f76
...@@ -80,7 +80,6 @@ void DynamixelPanTiltDriver::config_update(Config& new_cfg, uint32_t level) ...@@ -80,7 +80,6 @@ void DynamixelPanTiltDriver::config_update(Config& new_cfg, uint32_t level)
// depending on current state // depending on current state
// update driver with new_cfg data // update driver with new_cfg data
switch(this->getState()) switch(this->getState())
{ {
case DynamixelPanTiltDriver::CLOSED: case DynamixelPanTiltDriver::CLOSED:
...@@ -99,7 +98,6 @@ void DynamixelPanTiltDriver::config_update(Config& new_cfg, uint32_t level) ...@@ -99,7 +98,6 @@ void DynamixelPanTiltDriver::config_update(Config& new_cfg, uint32_t level)
// save the current configuration // save the current configuration
this->mode = (Dynamixel_pan_tilt_mode)new_cfg.mode; this->mode = (Dynamixel_pan_tilt_mode)new_cfg.mode;
this->config_=new_cfg; this->config_=new_cfg;
this->unlock(); this->unlock();
} }
......
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