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fix bug noetic windows #344

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fix bug noetic windows #344

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b1dd564
fix bug syncWrite method
Sep 20, 2021
08bdd00
add log info
Sep 20, 2021
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4 changes: 3 additions & 1 deletion ...nch_controllers/include/dynamixel_workbench_controllers/dynamixel_workbench_controllers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,9 @@
// SYNC_READ_HANDLER(Only for Protocol 2.0)
#define SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT 0

// #define DEBUG
//#define DEBUG

#define MY_DEBUG

typedef struct
{
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29 changes: 25 additions & 4 deletions dynamixel_workbench_controllers/src/dynamixel_workbench_controllers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -259,7 +259,7 @@ bool DynamixelController::getPresentPosition(std::vector<std::string> dxl_name)
{
result = dxl_wb_->syncRead(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array.data(),
dxl_name.size(),
(uint8_t)dxl_name.size(),
&log);
if (result == false)
{
Expand Down Expand Up @@ -365,7 +365,7 @@ void DynamixelController::readCallback(const ros::TimerEvent&)
{
result = dxl_wb_->syncRead(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array.data(),
dynamixel_.size(),
(uint8_t)dynamixel_.size(),
&log);
if (result == false)
{
Expand Down Expand Up @@ -567,7 +567,7 @@ void DynamixelController::commandVelocityCallback(const geometry_msgs::Twist::Co
else if (wheel_velocity[RIGHT] > 0.0f) dynamixel_velocity[RIGHT] = (wheel_velocity[RIGHT] * velocity_constant_value);
}

result = dxl_wb_->syncWrite(SYNC_WRITE_HANDLER_FOR_GOAL_VELOCITY, id_array.data(), dynamixel_.size(), dynamixel_velocity.data(), 1, &log);
result = dxl_wb_->syncWrite(SYNC_WRITE_HANDLER_FOR_GOAL_VELOCITY, id_array.data(), (uint8_t)dynamixel_.size(), dynamixel_velocity.data(), 1, &log);
if (result == false)
{
ROS_ERROR("%s", log);
Expand Down Expand Up @@ -596,16 +596,34 @@ void DynamixelController::writeCallback(const ros::TimerEvent&)
id_cnt++;
}




if (is_moving_ == true)
{
for (uint8_t index = 0; index < id_cnt; index++)
for (uint8_t index = 0; index < id_cnt; index++){
dynamixel_position[index] = dxl_wb_->convertRadian2Value(id_array[index], jnt_tra_msg_->points[point_cnt].positions.at(index));

#ifdef MY_DEBUG
printf("new join pos. %d %d %f\n", id_array[index], dynamixel_position[index], jnt_tra_msg_->points[point_cnt].positions.at(index));
#endif
}

#ifdef MY_DEBUG
printf("end \n");
#endif

result = dxl_wb_->syncWrite(SYNC_WRITE_HANDLER_FOR_GOAL_POSITION, id_array.data(), id_cnt, dynamixel_position.data(), 1, &log);
if (result == false)
{
ROS_ERROR("%s", log);
}
else
#ifdef DEBUG
ROS_DEBUG("[syncWrite] result %s", log);
#endif



position_cnt++;
if (position_cnt >= jnt_tra_msg_->points[point_cnt].positions.size())
Expand Down Expand Up @@ -670,6 +688,9 @@ void DynamixelController::trajectoryMsgCallback(const trajectory_msgs::JointTraj
else wp.acceleration = 0.0f;

goal.push_back(wp);

ROS_INFO("New Goal Pos.: %s %f", jnt_tra_msg_->joint_names[id_num], wp.position);

}

if (use_moveit_ == true)
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8 changes: 7 additions & 1 deletion dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1040,7 +1040,13 @@ bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int3
}
}

sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], (uint8_t *)&multi_parameter);
#ifdef DEBUG

printf("'%u' '%u' ", id[i], data[cnt-1]);
printf("'%#02x' '%#02x' '%#02x' '%#02x' \n", parameter[0], parameter[1],parameter[2],parameter[3]);
#endif

sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], multi_parameter.data());
if (sdk_error.dxl_addparam_result != true)
{
if (log != NULL) *log = "groupSyncWrite addparam failed";
Expand Down