From b46e68bd30eb45994b6fe3be0f25c33fb2ebb434 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20L=C3=B3pez=20Gestoso?= <alopez@iri.upc.edu>
Date: Mon, 23 Jan 2017 11:20:35 +0000
Subject: [PATCH] dynamixel_pan_tilt ROS driver -> Added a configuration file
for the dynamixel RX64 servos. -> Updated the
launch files to the latest changes.
---
config/dyn_pan_tilt_config_RX64.xml | 23 +++++++++++++++++++++++
launch/pan_tilt_controller.launch | 12 ++++++------
launch/pan_tilt_controller_display.launch | 12 ++++++------
launch/pan_tilt_display.launch | 8 ++++----
launch/pan_tilt_solo.launch | 8 ++++----
5 files changed, 43 insertions(+), 20 deletions(-)
create mode 100644 config/dyn_pan_tilt_config_RX64.xml
diff --git a/config/dyn_pan_tilt_config_RX64.xml b/config/dyn_pan_tilt_config_RX64.xml
new file mode 100644
index 0000000..7c85bae
--- /dev/null
+++ b/config/dyn_pan_tilt_config_RX64.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<dynamixel_pan_tilt_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:noNamespaceSchemaLocation="dynamixel_pan_tilt_cfg_file.xsd">
+
+ <alarm_shtdwn>5</alarm_shtdwn>
+ <temp_limit>85</temp_limit>
+ <max_voltage>21</max_voltage>
+ <min_voltage>6</min_voltage>
+ <max_torque>50</max_torque>
+ <cw_comp_margin>2</cw_comp_margin>
+ <ccw_comp_margin>2</ccw_comp_margin>
+ <cw_comp_slope>64</cw_comp_slope>
+ <ccw_comp_slope>64</ccw_comp_slope>
+ <punch>32</punch>
+ <kp>0</kp>
+ <ki>0</ki>
+ <kd>0</kd>
+ <min_angle>-85</min_angle><!--PAN -->
+ <max_angle>85</max_angle><!--PAN -->
+ <min_angle>-110</min_angle><!--TILT -->
+ <max_angle>60</max_angle><!--TILT -->
+</dynamixel_pan_tilt_config>
diff --git a/launch/pan_tilt_controller.launch b/launch/pan_tilt_controller.launch
index d23c86a..059fd44 100644
--- a/launch/pan_tilt_controller.launch
+++ b/launch/pan_tilt_controller.launch
@@ -23,9 +23,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -48,9 +48,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -83,9 +83,9 @@
name="PS3Joy"
type="joy_node"/>
- <node pkg="iri_dyn_pan_tilt_controller"
+ <node pkg="helena_dyn_pan_tilt_controller"
name="pan_tilt_controller"
- type="iri_dyn_pan_tilt_controller"
+ type="helena_dyn_pan_tilt_controller"
output="screen">
<param name="invert_pan"
type="bool"
diff --git a/launch/pan_tilt_controller_display.launch b/launch/pan_tilt_controller_display.launch
index 8f94cb0..8dc75d6 100644
--- a/launch/pan_tilt_controller_display.launch
+++ b/launch/pan_tilt_controller_display.launch
@@ -23,9 +23,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -48,9 +48,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -83,9 +83,9 @@
name="PS3Joy"
type="joy_node"/>
- <node pkg="iri_dyn_pan_tilt_controller"
+ <node pkg="helena_dyn_pan_tilt_controller"
name="pan_tilt_controller"
- type="iri_dyn_pan_tilt_controller"
+ type="helena_dyn_pan_tilt_controller"
output="screen">
<param name="invert_pan"
type="bool"
diff --git a/launch/pan_tilt_display.launch b/launch/pan_tilt_display.launch
index 7164080..d6d38a9 100644
--- a/launch/pan_tilt_display.launch
+++ b/launch/pan_tilt_display.launch
@@ -26,9 +26,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -51,9 +51,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
diff --git a/launch/pan_tilt_solo.launch b/launch/pan_tilt_solo.launch
index ffcd4b9..9b7d2c7 100644
--- a/launch/pan_tilt_solo.launch
+++ b/launch/pan_tilt_solo.launch
@@ -26,9 +26,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
@@ -51,9 +51,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
- <node pkg="iri_compliance_control_reconfigure"
+ <node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
- type="iri_compliance_control_reconfigure"
+ type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
--
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