Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add gear_ratio parameter #95

Open
wants to merge 1 commit into
base: rolling
Choose a base branch
from
+12 −5
Open

Add gear_ratio parameter #95

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ struct Joint
JointValue state{};
JointValue command{};
JointValue prev_command{};
double gear_ratio{1.0};
};

enum class ControlMode
Expand Down
16 changes: 11 additions & 5 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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]);
}

Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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<float>(joints_[i].command.position));
ids[i], static_cast<float>(joints_[i].command.position * joints_[i].gear_ratio));
}
if (!dynamixel_workbench_.syncWrite(
kGoalPositionIndex, ids.data(), ids.size(), commands.data(), 1, &log))
Expand All @@ -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<float>(joints_[i].command.velocity));
ids[i], static_cast<float>(joints_[i].command.velocity * joints_[i].gear_ratio));
}
if (!dynamixel_workbench_.syncWrite(
kGoalVelocityIndex, ids.data(), ids.size(), commands.data(), 1, &log))
Expand Down