From a5bec2d09ea4c508c4f54f349c7d27ba7f705664 Mon Sep 17 00:00:00 2001 From: Tatsuro Sakaguchi Date: Fri, 6 Dec 2024 10:24:17 +0900 Subject: [PATCH] Add gear_ratio parameter --- .../dynamixel_hardware/dynamixel_hardware.hpp | 1 + dynamixel_hardware/src/dynamixel_hardware.cpp | 16 +++++++++++----- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp b/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp index d3d5746..774d926 100644 --- a/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp +++ b/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp @@ -45,6 +45,7 @@ struct Joint JointValue state{}; JointValue command{}; JointValue prev_command{}; + double gear_ratio{1.0}; }; enum class ControlMode diff --git a/dynamixel_hardware/src/dynamixel_hardware.cpp b/dynamixel_hardware/src/dynamixel_hardware.cpp index 720db9e..3386711 100644 --- a/dynamixel_hardware/src/dynamixel_hardware.cpp +++ b/dynamixel_hardware/src/dynamixel_hardware.cpp @@ -69,6 +69,10 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo joints_[i].prev_command.position = joints_[i].command.position; joints_[i].prev_command.velocity = joints_[i].command.velocity; joints_[i].prev_command.effort = joints_[i].command.effort; + joints_[i].gear_ratio = 1.0; + if(info_.joints[i].parameters.find("gear_ratio") != info_.joints[i].parameters.end()) { + joints_[i].gear_ratio = std::stod(info_.joints[i].parameters.at("gear_ratio")); + } RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "joint_id %d: %d", i, joint_ids_[i]); } @@ -286,9 +290,11 @@ return_type DynamixelHardware::read( } for (uint i = 0; i < ids.size(); i++) { - joints_[i].state.position = dynamixel_workbench_.convertValue2Radian(ids[i], positions[i]); - joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]); - joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]); + joints_[i].state.position = dynamixel_workbench_.convertValue2Radian(ids[i], positions[i]) / + joints_[i].gear_ratio; + joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]) / + joints_[i].gear_ratio; + joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]) * joints_[i].gear_ratio; } return return_type::OK; @@ -473,7 +479,7 @@ CallbackReturn DynamixelHardware::set_joint_positions() for (uint i = 0; i < ids.size(); i++) { joints_[i].prev_command.position = joints_[i].command.position; commands[i] = dynamixel_workbench_.convertRadian2Value( - ids[i], static_cast(joints_[i].command.position)); + ids[i], static_cast(joints_[i].command.position * joints_[i].gear_ratio)); } if (!dynamixel_workbench_.syncWrite( kGoalPositionIndex, ids.data(), ids.size(), commands.data(), 1, &log)) @@ -493,7 +499,7 @@ CallbackReturn DynamixelHardware::set_joint_velocities() for (uint i = 0; i < ids.size(); i++) { joints_[i].prev_command.velocity = joints_[i].command.velocity; commands[i] = dynamixel_workbench_.convertVelocity2Value( - ids[i], static_cast(joints_[i].command.velocity)); + ids[i], static_cast(joints_[i].command.velocity * joints_[i].gear_ratio)); } if (!dynamixel_workbench_.syncWrite( kGoalVelocityIndex, ids.data(), ids.size(), commands.data(), 1, &log))