From c48bfab2415338bab98858336cbfbba92959dc90 Mon Sep 17 00:00:00 2001 From: nabeya11 Date: Mon, 7 Mar 2022 16:36:51 +0900 Subject: [PATCH 1/7] vel=0 when ROS is disconnected --- .../turtlebot3_with_open_manipulator_core.ino | 68 ++++++++++--------- 1 file changed, 36 insertions(+), 32 deletions(-) diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino b/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino index c59bf125a..90ad76b3d 100644 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino @@ -38,7 +38,7 @@ void setup() nh.subscribe(motor_power_sub); nh.subscribe(reset_sub); - nh.advertise(sensor_state_pub); + nh.advertise(sensor_state_pub); nh.advertise(version_info_pub); nh.advertise(imu_pub); nh.advertise(cmd_vel_rc100_pub); @@ -86,7 +86,7 @@ void loop() if ((t-tTime[0]) >= (1000 / CONTROL_MOTOR_SPEED_FREQUENCY)) { - updateGoalVelocity(); + updateGoalVelocity(nh.connected()); motor_driver.controlMotor(WHEEL_RADIUS, WHEEL_SEPARATION, goal_velocity); tTime[0] = t; } @@ -135,7 +135,7 @@ void loop() // Send log message after ROS connection sendLogMsg(); - // Receive data from RC100 + // Receive data from RC100 controllers.getRCdata(goal_velocity_from_rc100); // Check push button pressed for simple test drive @@ -218,7 +218,7 @@ void gripperPositionCallback(const std_msgs::Float64MultiArray& gripper_msg) void gripperMoveTimeCallback(const std_msgs::Float64& time_msg) { double data = time_msg.data; - + manipulator_driver.writeGripperProfileControlParam(data); } @@ -261,7 +261,7 @@ void resetCallback(const std_msgs::Empty& reset_msg) initOdom(); sprintf(log_msg, "Reset Odometry"); - nh.loginfo(log_msg); + nh.loginfo(log_msg); } /******************************************************************************* @@ -326,7 +326,7 @@ void publishSensorStateMsg(void) // sensor_state_msg.sonar = sensors.getSonarData(); sensor_state_msg.illumination = sensors.getIlluminationData(); - + sensor_state_msg.button = sensors.checkPushButton(); sensor_state_msg.torque = motor_driver.getTorque(); @@ -359,7 +359,7 @@ void publishBatteryStateMsg(void) if (battery_state == 0) battery_state_msg.present = false; else - battery_state_msg.present = true; + battery_state_msg.present = true; battery_state_pub.publish(&battery_state_msg); } @@ -411,7 +411,7 @@ void updateTFPrefix(bool isConnected) if (!strcmp(get_tf_prefix, "")) { sprintf(odom_header_frame_id, "odom"); - sprintf(odom_child_frame_id, "base_footprint"); + sprintf(odom_child_frame_id, "base_footprint"); sprintf(imu_frame_id, "imu_link"); sprintf(mag_frame_id, "mag_link"); @@ -435,16 +435,16 @@ void updateTFPrefix(bool isConnected) } sprintf(log_msg, "Setup TF on Odometry [%s]", odom_header_frame_id); - nh.loginfo(log_msg); + nh.loginfo(log_msg); sprintf(log_msg, "Setup TF on IMU [%s]", imu_frame_id); - nh.loginfo(log_msg); + nh.loginfo(log_msg); sprintf(log_msg, "Setup TF on MagneticField [%s]", mag_frame_id); - nh.loginfo(log_msg); + nh.loginfo(log_msg); sprintf(log_msg, "Setup TF on JointState [%s]", joint_state_header_frame_id); - nh.loginfo(log_msg); + nh.loginfo(log_msg); isChecked = true; } @@ -473,7 +473,7 @@ void updateOdometry(void) } /******************************************************************************* -* Update the joint states +* Update the joint states *******************************************************************************/ void updateJointStates(void) { @@ -533,7 +533,7 @@ void updateMotorInfo(int32_t left_tick, int32_t right_tick) { int32_t current_tick = 0; static int32_t last_tick[WHEEL_NUM] = {0, 0}; - + if (init_encoder) { for (int index = 0; index < WHEEL_NUM; index++) @@ -543,7 +543,7 @@ void updateMotorInfo(int32_t left_tick, int32_t right_tick) last_rad[index] = 0.0; last_velocity[index] = 0.0; - } + } last_tick[LEFT] = left_tick; last_tick[RIGHT] = right_tick; @@ -597,9 +597,9 @@ bool calcOdometry(double diff_time) wheel_r = 0.0; delta_s = WHEEL_RADIUS * (wheel_r + wheel_l) / 2.0; - // theta = WHEEL_RADIUS * (wheel_r - wheel_l) / WHEEL_SEPARATION; + // theta = WHEEL_RADIUS * (wheel_r - wheel_l) / WHEEL_SEPARATION; orientation = sensors.getOrientation(); - theta = atan2f(orientation[1]*orientation[2] + orientation[0]*orientation[3], + theta = atan2f(orientation[1]*orientation[2] + orientation[0]*orientation[3], 0.5f - orientation[2]*orientation[2] - orientation[3]*orientation[3]); delta_theta = theta - last_theta; @@ -657,7 +657,7 @@ void jointControl(void) else move_time = joint_trajectory_point.data[points] - joint_trajectory_point.data[points - POINT_SIZE]; for (uint32_t positions = points + 1; positions < (points + POINT_SIZE); positions++) - { + { if ((points + POINT_SIZE) >= all_points_cnt) { goal_joint_position[write_cnt] = joint_trajectory_point.data[positions]; @@ -703,7 +703,7 @@ void driveTest(uint8_t buttons) motor_driver.readEncoder(current_tick[LEFT], current_tick[RIGHT]); - if (buttons & (1<<0)) + if (buttons & (1<<0)) { move[LINEAR] = true; saved_tick[RIGHT] = current_tick[RIGHT]; @@ -719,7 +719,7 @@ void driveTest(uint8_t buttons) } if (move[LINEAR]) - { + { if (abs(saved_tick[RIGHT] - current_tick[RIGHT]) <= diff_encoder) { goal_velocity_from_button[LINEAR] = 0.05; @@ -731,7 +731,7 @@ void driveTest(uint8_t buttons) } } else if (move[ANGULAR]) - { + { if (abs(saved_tick[RIGHT] - current_tick[RIGHT]) <= diff_encoder) { goal_velocity_from_button[ANGULAR]= -0.7; @@ -750,11 +750,11 @@ void driveTest(uint8_t buttons) void updateVariable(bool isConnected) { static bool variable_flag = false; - + if (isConnected) { if (variable_flag == false) - { + { sensors.initIMU(); initOdom(); @@ -773,11 +773,11 @@ void updateVariable(bool isConnected) void waitForSerialLink(bool isConnected) { static bool wait_flag = false; - + if (isConnected) { if (wait_flag == false) - { + { delay(10); wait_flag = true; @@ -854,17 +854,17 @@ void updateGyroCali(void) void sendLogMsg(void) { static bool log_flag = false; - char log_msg[100]; + char log_msg[100]; String firmware_version = FIRMWARE_VER; String bringup_log = "This core(v" + firmware_version + ") is compatible with TB3 with OpenManipulator"; - + const char* init_log_data = bringup_log.c_str(); if (nh.connected()) { if (log_flag == false) - { + { sprintf(log_msg, "--------------------------"); nh.loginfo(log_msg); @@ -931,8 +931,12 @@ void initJointStates(void) /******************************************************************************* * Update Goal Velocity *******************************************************************************/ -void updateGoalVelocity(void) +void updateGoalVelocity(bool isConnected) { + if(!isConnected){ + goal_velocity_from_cmd[LINEAR] = 0.0; + goal_velocity_from_cmd[ANGULAR] = 0.0; + } goal_velocity[LINEAR] = goal_velocity_from_button[LINEAR] + goal_velocity_from_cmd[LINEAR] + goal_velocity_from_rc100[LINEAR]; goal_velocity[ANGULAR] = goal_velocity_from_button[ANGULAR] + goal_velocity_from_cmd[ANGULAR] + goal_velocity_from_rc100[ANGULAR]; } @@ -971,7 +975,7 @@ void sendDebuglog(void) DEBUG_SERIAL.print(" x : "); DEBUG_SERIAL.println(quat[1]); DEBUG_SERIAL.print(" y : "); DEBUG_SERIAL.println(quat[2]); DEBUG_SERIAL.print(" z : "); DEBUG_SERIAL.println(quat[3]); - + DEBUG_SERIAL.println("---------------------------------------"); DEBUG_SERIAL.println("DYNAMIXELS"); DEBUG_SERIAL.println("---------------------------------------"); @@ -980,7 +984,7 @@ void sendDebuglog(void) int32_t encoder[WHEEL_NUM] = {0, 0}; motor_driver.readEncoder(encoder[LEFT], encoder[RIGHT]); - + DEBUG_SERIAL.println("Encoder(left) : " + String(encoder[LEFT])); DEBUG_SERIAL.println("Encoder(right) : " + String(encoder[RIGHT])); @@ -998,7 +1002,7 @@ void sendDebuglog(void) DEBUG_SERIAL.println("---------------------------------------"); DEBUG_SERIAL.println("TurtleBot3"); DEBUG_SERIAL.println("---------------------------------------"); - DEBUG_SERIAL.println("Odometry : "); + DEBUG_SERIAL.println("Odometry : "); DEBUG_SERIAL.print(" x : "); DEBUG_SERIAL.println(odom_pose[0]); DEBUG_SERIAL.print(" y : "); DEBUG_SERIAL.println(odom_pose[1]); DEBUG_SERIAL.print(" theta : "); DEBUG_SERIAL.println(odom_pose[2]); From 39dfdf78c1404fdc1194d157c29a621b33fbfa56 Mon Sep 17 00:00:00 2001 From: nabeya11 Date: Mon, 7 Mar 2022 16:43:00 +0900 Subject: [PATCH 2/7] too short time for JointTrajectoryPoint --- .../turtlebot3_with_open_manipulator_core.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino b/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino index 90ad76b3d..ef07656b9 100644 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator_core/turtlebot3_with_open_manipulator_core.ino @@ -634,8 +634,8 @@ void jointControl(void) const double JOINT_CONTROL_PERIOD = 1.0f / (double)JOINT_CONTROL_FREQEUNCY; static uint32_t points = 0; - static uint8_t wait_for_write = 0; - static uint8_t loop_cnt = 0; + static uint16_t wait_for_write = 0; + static uint16_t loop_cnt = 0; if (is_moving == true) { From 323111408481c872359289088b2b30ac2c98af3d Mon Sep 17 00:00:00 2001 From: Will Son Date: Tue, 6 Sep 2022 15:36:46 +0900 Subject: [PATCH 3/7] increase flash timeout delay Signed-off-by: Will Son --- arduino/opencr_develop/opencr_ld/opencr_ld.c | 2 +- .../opencr_develop/opencr_ld_shell/README.md | 21 ++--------- arduino/opencr_develop/opencr_ld_shell/main.c | 2 +- .../opencr_ld_shell/opencr_ld.c | 2 +- .../opencr_update/burger.opencr | Bin 182928 -> 0 bytes .../opencr_update/burger_noetic.opencr | Bin 188224 -> 0 bytes .../burger_turtlebot3_core.ino.bin | Bin 181640 -> 0 bytes .../burger_turtlebot3_core_noetic.ino.bin | Bin 186936 -> 0 bytes .../opencr_update/open_manipulator.opencr | Bin 193280 -> 0 bytes .../open_manipulator_noetic.opencr | Bin 219712 -> 0 bytes .../open_manipulator_turtlebot3_core.ino.bin | Bin 191992 -> 0 bytes ...manipulator_turtlebot3_core_noetic.ino.bin | Bin 218424 -> 0 bytes .../opencr_update/opencr_ld_shell_arm | Bin 29240 -> 0 bytes .../opencr_update/opencr_ld_shell_x86 | Bin 38752 -> 0 bytes .../opencr_update/released_1.2.6.txt | 1 - .../opencr_ld_shell/opencr_update/update.sh | 34 ------------------ .../opencr_update/waffle.opencr | Bin 182912 -> 0 bytes .../opencr_update/waffle_noetic.opencr | Bin 188224 -> 0 bytes .../waffle_turtlebot3_core.ino.bin | Bin 181624 -> 0 bytes .../waffle_turtlebot3_core_noetic.ino.bin | Bin 186936 -> 0 bytes .../opencr_ld_shell/shell_cmd.txt | 5 --- 21 files changed, 6 insertions(+), 61 deletions(-) delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/burger.opencr delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/burger_noetic.opencr delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/burger_turtlebot3_core.ino.bin delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/burger_turtlebot3_core_noetic.ino.bin delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/open_manipulator.opencr delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/open_manipulator_noetic.opencr delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/open_manipulator_turtlebot3_core.ino.bin delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/open_manipulator_turtlebot3_core_noetic.ino.bin delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/opencr_ld_shell_arm delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/opencr_ld_shell_x86 delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/released_1.2.6.txt delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/update.sh delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/waffle.opencr delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/waffle_noetic.opencr delete mode 100755 arduino/opencr_develop/opencr_ld_shell/opencr_update/waffle_turtlebot3_core.ino.bin delete mode 100644 arduino/opencr_develop/opencr_ld_shell/opencr_update/waffle_turtlebot3_core_noetic.ino.bin delete mode 100755 arduino/opencr_develop/opencr_ld_shell/shell_cmd.txt diff --git a/arduino/opencr_develop/opencr_ld/opencr_ld.c b/arduino/opencr_develop/opencr_ld/opencr_ld.c index acb8d3c22..ab0b56d28 100755 --- a/arduino/opencr_develop/opencr_ld/opencr_ld.c +++ b/arduino/opencr_develop/opencr_ld/opencr_ld.c @@ -722,7 +722,7 @@ err_code_t cmd_flash_fw_erase( uint32_t length ) if( resp == 1 ) { - if( msg_get_resp(0, &rx_msg, 3000) == TRUE ) + if( msg_get_resp(0, &rx_msg, 5000) == TRUE ) { mavlink_msg_ack_decode( &rx_msg, &ack_msg); diff --git a/arduino/opencr_develop/opencr_ld_shell/README.md b/arduino/opencr_develop/opencr_ld_shell/README.md index 61c4ea515..8967bb558 100755 --- a/arduino/opencr_develop/opencr_ld_shell/README.md +++ b/arduino/opencr_develop/opencr_ld_shell/README.md @@ -1,20 +1,5 @@ -Burger -======= -``` -export OPENCR_PORT=/dev/ttyACM0 -export OPENCR_MODEL=burger -rm -rf ./opencr_update.tar.bz2 -wget https://github.com/ROBOTIS-GIT/OpenCR/raw/develop/arduino/opencr_release/shell_update/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd .. -``` - -Waffle -======= -``` -export OPENCR_PORT=/dev/ttyACM0 -export OPENCR_MODEL=waffle -rm -rf ./opencr_update.tar.bz2 -wget https://github.com/ROBOTIS-GIT/OpenCR/raw/develop/arduino/opencr_release/shell_update/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd .. -``` - +Please refer to the TurtleBot3 eManual Quick Start Guide > OpenCR Setup section below. +Select the correct ROS distribution first. +https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup \ No newline at end of file diff --git a/arduino/opencr_develop/opencr_ld_shell/main.c b/arduino/opencr_develop/opencr_ld_shell/main.c index aea017332..ad99adca0 100755 --- a/arduino/opencr_develop/opencr_ld_shell/main.c +++ b/arduino/opencr_develop/opencr_ld_shell/main.c @@ -43,7 +43,7 @@ int main( int argc, const char **argv ) long baud; - printf("opencr_ld_shell ver 1.0.0\n"); + printf("opencr_ld_shell ver 1.0.1\n"); if (argc == 5 && strcmp(argv[ 1 ], "make") == 0) { diff --git a/arduino/opencr_develop/opencr_ld_shell/opencr_ld.c b/arduino/opencr_develop/opencr_ld_shell/opencr_ld.c index 4a06e77e8..59e2e5518 100755 --- a/arduino/opencr_develop/opencr_ld_shell/opencr_ld.c +++ b/arduino/opencr_develop/opencr_ld_shell/opencr_ld.c @@ -716,7 +716,7 @@ err_code_t cmd_flash_fw_write_begin( void ) if( resp == 1 ) { - if( msg_get_resp(0, &rx_msg, 500) == TRUE ) + if( msg_get_resp(0, &rx_msg, 5000) == TRUE ) { 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z0~54La1EG1F-U}PV1g(KVt@$}BuEA(&`B@`m>@@jDZm7?BzPQ{z#>5rFo9cwXMhP7 zN$@f-!3qgh0~4&1U^6hmE(zWPCiqx_L%;+_Bsd97P%pvHzyz%lTmvS+OXC8B0~16^ z5Ccq*AVD%Pflh)kzyvuGOaUgCCBfss1QrR3fC=0ZJOfOyNP?Gv306q38kk_61e<{g bc1iFaFu}(X90DddBEd;u0{U1b(eVEOAov~{ diff --git a/arduino/opencr_develop/opencr_ld_shell/shell_cmd.txt b/arduino/opencr_develop/opencr_ld_shell/shell_cmd.txt deleted file mode 100755 index 190e7ff85..000000000 --- a/arduino/opencr_develop/opencr_ld_shell/shell_cmd.txt +++ /dev/null @@ -1,5 +0,0 @@ - - -export OPENCR_PORT=/dev/ttyACM0 -export OPENCR_MODEL=burger -wget https://github.com/ROBOTIS-GIT/OpenCR/raw/develop/arduino/opencr_release/shell_update/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd .. From ba3262a1a6056a9c47495d3c1e8e02e4ed679322 Mon Sep 17 00:00:00 2001 From: "hancheol.cho" Date: Tue, 6 Sep 2022 16:07:33 +0900 Subject: [PATCH 4/7] Add turtlebot3_with_open_manipulator --- .../turtlebot3_with_open_manipulator.ino | 35 ++ .../turtlebot3/open_manipulator_driver.h | 89 +++++ .../include/turtlebot3/turtlebot3.h | 1 + .../turtlebot3/turtlebot3_motor_driver.h | 4 +- .../turtlebot3/open_manipulator_driver.cpp | 318 ++++++++++++++++++ .../src/turtlebot3/turtlebot3.cpp | 309 ++++++++++++++++- .../turtlebot3/turtlebot3_motor_driver.cpp | 5 + 7 files changed, 749 insertions(+), 12 deletions(-) create mode 100644 arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino create mode 100644 arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h create mode 100644 arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino new file mode 100644 index 000000000..469bdc759 --- /dev/null +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino @@ -0,0 +1,35 @@ +/******************************************************************************* +* Copyright 2016 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ + +#include + +/******************************************************************************* +* Setup function +*******************************************************************************/ +void setup() +{ + // Begin TurtleBot3 core for support Waffle. + TurtleBot3Core::begin("Waffle_OpenManipulator"); +} + +/******************************************************************************* +* Loop function +*******************************************************************************/ +void loop() +{ + // Run TurtleBot3 core for communicating with ROS2 node, sensing several sensors and controlling actuators. + TurtleBot3Core::run(); +} \ No newline at end of file diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h new file mode 100644 index 000000000..2f40178f0 --- /dev/null +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h @@ -0,0 +1,89 @@ +/******************************************************************************* +* Copyright 2016 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ + +#ifndef OPEN_MANIPULATOR_DRIVER_H_ +#define OPEN_MANIPULATOR_DRIVER_H_ + +#include + + +enum JointMotorLocation{ + JOINT_1 = 0, + JOINT_2, + JOINT_3, + JOINT_4, + GRIPPER, + JOINT_MOTOR_NUM_MAX +}; + +typedef struct +{ + int32_t value[JOINT_MOTOR_NUM_MAX]; +} joint_position_info_t; + +typedef struct +{ + int32_t value[JOINT_MOTOR_NUM_MAX]; +} joint_velocity_info_t; + +typedef struct +{ + int16_t value[JOINT_MOTOR_NUM_MAX]; +} joint_current_info_t; + +typedef struct +{ + uint32_t value[JOINT_MOTOR_NUM_MAX]; +} joint_accel_info_t; + + +class OpenManipulatorDriver +{ + public: + OpenManipulatorDriver(Dynamixel2Arduino &dxl_param); + ~OpenManipulatorDriver(); + + bool init(void); + void close(void); + + bool is_connected(); + + bool set_torque(bool onoff); + bool get_torque(void); + + bool read_goal_position(joint_position_info_t &position_info); + bool read_present_position(joint_position_info_t &position_info); + bool read_present_velocity(joint_velocity_info_t &velocity_info); + bool read_present_current(joint_current_info_t ¤t_info); + bool read_profile_acceleration(joint_accel_info_t &accel_info); + bool read_profile_velocity(joint_accel_info_t &accel_info); + + bool write_goal_position(joint_position_info_t &position_info); + bool write_profile_acceleration(joint_accel_info_t &accel_info); + bool write_profile_velocity(joint_accel_info_t &accel_info); + + private: + + bool is_ready(void); + + uint8_t motor_id_[JOINT_MOTOR_NUM_MAX]; + bool torque_; + bool is_init_; + bool is_connected_; + Dynamixel2Arduino &dxl; +}; + +#endif // OPEN_MANIPULATOR_DRIVER_H_ diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h index 5427f913c..cdddaa599 100755 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h @@ -22,6 +22,7 @@ #include "turtlebot3_sensor.h" #include "turtlebot3_controller.h" #include "turtlebot3_diagnosis.h" +#include "open_manipulator_driver.h" #define DEBUG_ENABLE 1 diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3_motor_driver.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3_motor_driver.h index 0d3962cdf..619b0887a 100755 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3_motor_driver.h +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3_motor_driver.h @@ -19,7 +19,7 @@ #include -#define TORQUE_ENABLE 1 +#define TORQUE_ENABLE ControlTableItem::TORQUE_ENABLE enum MortorLocation{ LEFT = 0, @@ -58,6 +58,8 @@ class Turtlebot3MotorDriver bool control_motors(const float wheel_separation, float linear_value, float angular_value); + Dynamixel2Arduino& getDxl(); + private: uint8_t left_wheel_id_; uint8_t right_wheel_id_; diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp new file mode 100644 index 000000000..3626a3ba9 --- /dev/null +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp @@ -0,0 +1,318 @@ +/******************************************************************************* +* Copyright 2016 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ + +#include "../../include/turtlebot3/open_manipulator_driver.h" + + +/* DYNAMIXEL Information for controlling motors and */ +const uint8_t DXL_MOTOR_ID_JOINT_1 = 11; +const uint8_t DXL_MOTOR_ID_JOINT_2 = 12; +const uint8_t DXL_MOTOR_ID_JOINT_3 = 13; +const uint8_t DXL_MOTOR_ID_JOINT_4 = 14; +const uint8_t DXL_MOTOR_ID_GRIPPER = 15; + +static ParamForSyncReadInst_t sync_read_param; +static ParamForSyncWriteInst_t sync_write_param; +static RecvInfoFromStatusInst_t read_result; + + + +OpenManipulatorDriver::OpenManipulatorDriver(Dynamixel2Arduino &dxl_param) +: dxl(dxl_param), + torque_(false), + is_init_(false), + is_connected_(false) +{ + motor_id_[JOINT_1] = DXL_MOTOR_ID_JOINT_1; + motor_id_[JOINT_2] = DXL_MOTOR_ID_JOINT_2; + motor_id_[JOINT_3] = DXL_MOTOR_ID_JOINT_3; + motor_id_[JOINT_4] = DXL_MOTOR_ID_JOINT_4; + motor_id_[GRIPPER] = DXL_MOTOR_ID_GRIPPER; +} + +OpenManipulatorDriver::~OpenManipulatorDriver() +{ + close(); +} + +bool OpenManipulatorDriver::init(void) +{ + sync_write_param.id_count = JOINT_MOTOR_NUM_MAX; + for (int i=0; ihas_manipulator == true) + { + ret = manipulator_driver.init(); + DEBUG_PRINTLN(ret==true?"Manipulator driver setup completed.":"Manipulator driver setup failed."); + } + + DEBUG_PRINT("Dynamixel2Arduino Item Max : "); + DEBUG_PRINTLN(CONTROL_ITEM_MAX); + + control_items.debug_mode = false; + control_items.is_connect_ros2_node = false; + control_items.is_connect_manipulator = false; + + // Port begin dxl_slave.begin(); // Init DXL Slave function dxl_slave.setPortProtocolVersion(PROTOCOL_VERSION_DXL_SLAVE); @@ -259,7 +368,14 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_MODEL_INFORM, control_items.model_inform); // Items for Timer of device dxl_slave.addControlItem(ADDR_MILLIS, control_items.dev_time_millis); - dxl_slave.addControlItem(ADDR_MICROS, control_items.dev_time_micros); + + // Items to debug mode + dxl_slave.addControlItem(ADDR_DEBUG_MODE, control_items.debug_mode); + // Items to connect ros2 + dxl_slave.addControlItem(ADDR_CONNECT_ROS2, control_items.is_connect_ros2_node); + // Items to connect manipulator + dxl_slave.addControlItem(ADDR_CONNECT_MANIP, control_items.is_connect_manipulator); + // Items to inform device status dxl_slave.addControlItem(ADDR_DEVICE_STATUS, control_items.device_status); // Items to check connection state with node @@ -305,6 +421,7 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_L, control_items.present_current[MortorLocation::LEFT]); dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_R, control_items.present_current[MortorLocation::RIGHT]); // Items to control motors + dxl_slave.addControlItem(ADDR_MOTOR_CONNECT, control_items.is_connect_motors); dxl_slave.addControlItem(ADDR_MOTOR_TORQUE, control_items.motor_torque_enable_state); dxl_slave.addControlItem(ADDR_CMD_VEL_LINEAR_X, control_items.cmd_vel_linear[0]); dxl_slave.addControlItem(ADDR_CMD_VEL_LINEAR_Y, control_items.cmd_vel_linear[1]); @@ -315,6 +432,64 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_PROFILE_ACC_L, control_items.profile_acceleration[MortorLocation::LEFT]); dxl_slave.addControlItem(ADDR_PROFILE_ACC_R, control_items.profile_acceleration[MortorLocation::RIGHT]); + if (p_tb3_model_info->has_manipulator == true) { + control_items.joint_goal_position_update_wr = false; + control_items.joint_goal_position_update_rd = false; + control_items.joint_profile_acc_update_wr = false; + control_items.joint_profile_acc_update_rd = false; + control_items.joint_profile_vel_update_wr = false; + control_items.joint_profile_vel_update_rd = false; + + // Items to joint motors + dxl_slave.addControlItem(ADDR_TORQUE_JOINT, control_items.joint_torque_enable_state); + + dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_1, control_items.joint_goal_position.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_2, control_items.joint_goal_position.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_3, control_items.joint_goal_position.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_4, control_items.joint_goal_position.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_GRIPPER, control_items.joint_goal_position.value[GRIPPER]); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_UPDATE_WR, control_items.joint_goal_position_update_wr); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_UPDATE_RD, control_items.joint_goal_position_update_rd); + + dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_1, control_items.joint_present_position.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_2, control_items.joint_present_position.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_3, control_items.joint_present_position.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_4, control_items.joint_present_position.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_PRESENT_POSITION_GRIPPER, control_items.joint_present_position.value[GRIPPER]); + + dxl_slave.addControlItem(ADDR_PRESENT_VELOCITY_JOINT_1, control_items.joint_present_velocity.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_PRESENT_VELOCITY_JOINT_2, control_items.joint_present_velocity.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_PRESENT_VELOCITY_JOINT_3, control_items.joint_present_velocity.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_PRESENT_VELOCITY_JOINT_4, control_items.joint_present_velocity.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_PRESENT_VELOCITY_GRIPPER, control_items.joint_present_velocity.value[GRIPPER]); + + dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_JOINT_1, control_items.joint_present_current.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_JOINT_2, control_items.joint_present_current.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_JOINT_3, control_items.joint_present_current.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_JOINT_4, control_items.joint_present_current.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_PRESENT_CURRENT_GRIPPER, control_items.joint_present_current.value[GRIPPER]); + + dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_1, control_items.joint_profile_acc.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_2, control_items.joint_profile_acc.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_3, control_items.joint_profile_acc.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_4, control_items.joint_profile_acc.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_GRIPPER, control_items.joint_profile_acc.value[GRIPPER]); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_UPDATE_WR, control_items.joint_profile_acc_update_wr); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_UPDATE_RD, control_items.joint_profile_acc_update_rd); + + dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_1, control_items.joint_profile_vel.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_2, control_items.joint_profile_vel.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_3, control_items.joint_profile_vel.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_4, control_items.joint_profile_vel.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_GRIPPER, control_items.joint_profile_vel.value[GRIPPER]); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_UPDATE_WR, control_items.joint_profile_vel_update_wr); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_UPDATE_RD, control_items.joint_profile_vel_update_rd); + } + + + + + // Set user callback function for processing write command from master. dxl_slave.setWriteCallbackFunc(dxl_slave_write_callback_func); @@ -323,20 +498,40 @@ void TurtleBot3Core::begin(const char* model_name) motor_driver.set_torque(true); control_items.device_status = STATUS_RUNNING; set_connection_state_with_motors(true); + DEBUG_PRINTLN("Wheel motors are connected"); }else{ control_items.device_status = STATUS_NOT_CONNECTED_MOTORS; set_connection_state_with_motors(false); DEBUG_PRINTLN("Can't communicate with the motor!"); DEBUG_PRINTLN(" Please check the connection to the motor and the power supply."); DEBUG_PRINTLN(); + } + control_items.is_connect_motors = get_connection_state_with_motors(); + + if (p_tb3_model_info->has_manipulator == true) { + // Check connection state with joints. + if(manipulator_driver.is_connected() == true){ + manipulator_driver.set_torque(true); + control_items.is_connect_manipulator = true; + set_connection_state_with_joints(true); + DEBUG_PRINTLN("Joint motors are connected"); + }else{ + control_items.is_connect_manipulator = false; + set_connection_state_with_joints(false); + DEBUG_PRINTLN("Can't communicate with the joint!"); + DEBUG_PRINTLN(" Please check the connection to the joint motor and the power supply."); + DEBUG_PRINTLN(); + } } - + // Init IMU sensors.initIMU(); sensors.calibrationGyro(); //To indicate that the initialization is complete. sensors.makeMelody(1); + + DEBUG_PRINTLN("Begin End..."); } /******************************************************************************* @@ -377,7 +572,8 @@ void TurtleBot3Core::run() update_motor_status(INTERVAL_MS_TO_UPDATE_CONTROL_ITEM); update_battery_status(INTERVAL_MS_TO_UPDATE_CONTROL_ITEM); update_analog_sensors(INTERVAL_MS_TO_UPDATE_CONTROL_ITEM); - + update_joint_status(INTERVAL_MS_TO_UPDATE_CONTROL_ITEM); + // Packet processing with ROS2 Node. dxl_slave.processPacket(); @@ -510,6 +706,10 @@ void update_motor_status(uint32_t interval_ms) if(millis() - pre_time >= interval_ms){ pre_time = millis(); + + uint32_t pre_time_dxl; + + pre_time_dxl = millis(); if(get_connection_state_with_motors() == true){ motor_driver.read_present_position(control_items.present_position[MortorLocation::LEFT], control_items.present_position[MortorLocation::RIGHT]); motor_driver.read_present_velocity(control_items.present_velocity[MortorLocation::LEFT], control_items.present_velocity[MortorLocation::RIGHT]); @@ -520,9 +720,26 @@ void update_motor_status(uint32_t interval_ms) control_items.motor_torque_enable_state = motor_driver.get_torque(); } - } + } } +void update_joint_status(uint32_t interval_ms) +{ + static uint32_t pre_time; + + if(millis() - pre_time >= interval_ms){ + pre_time = millis(); + + manipulator_driver.read_present_position(control_items.joint_present_position); + manipulator_driver.read_present_velocity(control_items.joint_present_velocity); + manipulator_driver.read_present_current(control_items.joint_present_current); + + if(get_connection_state_with_joints() == true){ + + control_items.joint_torque_enable_state = manipulator_driver.get_torque(); + } + } +} /******************************************************************************* * Callback function definition to be used in communication with the ROS2 node. @@ -538,6 +755,13 @@ static void dxl_slave_write_callback_func(uint16_t item_addr, uint8_t &dxl_err_c dxl_err_code = DXL_ERR_ACCESS; break; + case ADDR_DEBUG_MODE: + if (control_items.debug_mode == true) + DEBUG_PRINTLN("Debug Mode : Enabled"); + else + DEBUG_PRINTLN("Debug Mode : Disabled"); + break; + case ADDR_SOUND: sensors.makeMelody(control_items.buzzer_sound); break; @@ -567,6 +791,53 @@ static void dxl_slave_write_callback_func(uint16_t item_addr, uint8_t &dxl_err_c if(get_connection_state_with_motors() == true) motor_driver.write_profile_acceleration(control_items.profile_acceleration[MortorLocation::LEFT], control_items.profile_acceleration[MortorLocation::RIGHT]); break; + + case ADDR_TORQUE_JOINT: + manipulator_driver.set_torque(control_items.joint_torque_enable_state); + break; + + case ADDR_GOAL_POSITION_UPDATE_WR: + if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_position_update_wr == true) { + manipulator_driver.write_goal_position(control_items.joint_goal_position); + } + control_items.joint_goal_position_update_wr = false; + break; + + case ADDR_GOAL_POSITION_UPDATE_RD: + if (control_items.joint_goal_position_update_rd == true) { + manipulator_driver.read_goal_position(control_items.joint_goal_position); + } + control_items.joint_goal_position_update_rd = false; + break; + + case ADDR_PROFILE_ACC_UPDATE_WR: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_acc_update_wr == true) { + manipulator_driver.write_profile_acceleration(control_items.joint_profile_acc); + } + control_items.joint_profile_acc_update_wr = false; + break; + + case ADDR_PROFILE_ACC_UPDATE_RD: + if (control_items.joint_profile_acc_update_rd == true) { + manipulator_driver.read_profile_acceleration(control_items.joint_profile_acc); + } + control_items.joint_profile_acc_update_rd = false; + break; + + case ADDR_PROFILE_VEL_UPDATE_WR: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_vel_update_wr == true) { + manipulator_driver.write_profile_velocity(control_items.joint_profile_vel); + } + control_items.joint_profile_vel_update_wr = false; + break; + + case ADDR_PROFILE_VEL_UPDATE_RD: + if (control_items.joint_profile_vel_update_rd == true) { + manipulator_driver.read_profile_velocity(control_items.joint_profile_vel); + } + control_items.joint_profile_vel_update_rd = false; + break; + } } @@ -599,7 +870,7 @@ void update_connection_state_with_ros2_node() return; } - if(pre_data != control_items.heart_beat){ + if(pre_data != control_items.heart_beat || control_items.debug_mode == true){ pre_time = millis(); pre_data = control_items.heart_beat; set_connection_state_with_ros2_node(true); @@ -609,6 +880,8 @@ void update_connection_state_with_ros2_node() set_connection_state_with_ros2_node(false); } } + + control_items.is_connect_ros2_node = get_connection_state_with_ros2_node(); } @@ -627,6 +900,20 @@ static void set_connection_state_with_motors(bool is_connected) is_connected_motors = is_connected; } +/******************************************************************************* +* Function definition to check the connection with the motor. +*******************************************************************************/ +static bool is_connected_joints = false; + +static bool get_connection_state_with_joints() +{ + return is_connected_joints; +} + +static void set_connection_state_with_joints(bool is_connected) +{ + is_connected_joints = is_connected; +} /******************************************************************************* * Function definition to test motors using the built-in buttons of OpenCR. diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3_motor_driver.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3_motor_driver.cpp index 54461a639..7e18c7f01 100755 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3_motor_driver.cpp +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3_motor_driver.cpp @@ -77,6 +77,11 @@ bool Turtlebot3MotorDriver::init(void) return true; } +Dynamixel2Arduino& Turtlebot3MotorDriver::getDxl() +{ + return dxl; +} + bool Turtlebot3MotorDriver::is_connected() { return (dxl.ping(DXL_MOTOR_ID_LEFT) == true && dxl.ping(DXL_MOTOR_ID_RIGHT) == true); From 7bf5894c72209253dd78ceea76eccb59cc5f492f Mon Sep 17 00:00:00 2001 From: "hancheol.cho" Date: Mon, 26 Sep 2022 10:03:50 +0900 Subject: [PATCH 5/7] Fixed turtlebot3_ros2 for manipulator. --- .../turtlebot3/open_manipulator_driver.h | 13 +- .../turtlebot3/open_manipulator_driver.cpp | 119 ++++++++++-- .../src/turtlebot3/turtlebot3.cpp | 179 +++++++++++++----- 3 files changed, 251 insertions(+), 60 deletions(-) diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h index 2f40178f0..c6692f410 100644 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/open_manipulator_driver.h @@ -70,10 +70,17 @@ class OpenManipulatorDriver bool read_present_current(joint_current_info_t ¤t_info); bool read_profile_acceleration(joint_accel_info_t &accel_info); bool read_profile_velocity(joint_accel_info_t &accel_info); + bool read_goal_current(joint_current_info_t ¤t_info); - bool write_goal_position(joint_position_info_t &position_info); - bool write_profile_acceleration(joint_accel_info_t &accel_info); - bool write_profile_velocity(joint_accel_info_t &accel_info); + bool write_goal_position_joint(joint_position_info_t &position_info); + bool write_profile_acceleration_joint(joint_accel_info_t &accel_info); + bool write_profile_velocity_joint(joint_accel_info_t &accel_info); + bool write_goal_current_joint(joint_current_info_t ¤t_info); + + bool write_goal_position_gripper(joint_position_info_t &position_info); + bool write_profile_acceleration_gripper(joint_accel_info_t &accel_info); + bool write_profile_velocity_gripper(joint_accel_info_t &accel_info); + bool write_goal_current_gripper(joint_current_info_t ¤t_info); private: diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp index 3626a3ba9..952af3330 100644 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/open_manipulator_driver.cpp @@ -104,6 +104,7 @@ bool OpenManipulatorDriver::set_torque(bool onoff) sync_write_param.addr = 64; sync_write_param.length = 1; + sync_write_param.id_count = JOINT_MOTOR_NUM_MAX; for (int i=0; ihas_manipulator == true) { - control_items.joint_goal_position_update_wr = false; - control_items.joint_goal_position_update_rd = false; - control_items.joint_profile_acc_update_wr = false; - control_items.joint_profile_acc_update_rd = false; - control_items.joint_profile_vel_update_wr = false; - control_items.joint_profile_vel_update_rd = false; + control_items.joint_goal_position_wr_joint = false; + control_items.joint_goal_position_wr_gripper = false; + control_items.joint_goal_position_rd = false; + control_items.joint_profile_acc_wr_joint = false; + control_items.joint_profile_acc_wr_gripper = false; + control_items.joint_profile_acc_rd = false; + control_items.joint_profile_vel_wr_joint = false; + control_items.joint_profile_vel_wr_gripper = false; + control_items.joint_profile_vel_rd = false; + control_items.joint_goal_current_wr_joint = false; + control_items.joint_goal_current_wr_gripper = false; + control_items.joint_goal_current_rd = false; // Items to joint motors dxl_slave.addControlItem(ADDR_TORQUE_JOINT, control_items.joint_torque_enable_state); @@ -448,8 +476,9 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_3, control_items.joint_goal_position.value[JOINT_3]); dxl_slave.addControlItem(ADDR_GOAL_POSITION_JOINT_4, control_items.joint_goal_position.value[JOINT_4]); dxl_slave.addControlItem(ADDR_GOAL_POSITION_GRIPPER, control_items.joint_goal_position.value[GRIPPER]); - dxl_slave.addControlItem(ADDR_GOAL_POSITION_UPDATE_WR, control_items.joint_goal_position_update_wr); - dxl_slave.addControlItem(ADDR_GOAL_POSITION_UPDATE_RD, control_items.joint_goal_position_update_rd); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_WR_JOINT, control_items.joint_goal_position_wr_joint); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_WR_GRIPPER, control_items.joint_goal_position_wr_gripper); + dxl_slave.addControlItem(ADDR_GOAL_POSITION_RD, control_items.joint_goal_position_rd); dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_1, control_items.joint_present_position.value[JOINT_1]); dxl_slave.addControlItem(ADDR_PRESENT_POSITION_JOINT_2, control_items.joint_present_position.value[JOINT_2]); @@ -474,16 +503,27 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_3, control_items.joint_profile_acc.value[JOINT_3]); dxl_slave.addControlItem(ADDR_PROFILE_ACC_JOINT_4, control_items.joint_profile_acc.value[JOINT_4]); dxl_slave.addControlItem(ADDR_PROFILE_ACC_GRIPPER, control_items.joint_profile_acc.value[GRIPPER]); - dxl_slave.addControlItem(ADDR_PROFILE_ACC_UPDATE_WR, control_items.joint_profile_acc_update_wr); - dxl_slave.addControlItem(ADDR_PROFILE_ACC_UPDATE_RD, control_items.joint_profile_acc_update_rd); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_WR_JOINT, control_items.joint_profile_acc_wr_joint); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_WR_GRIPPER, control_items.joint_profile_acc_wr_gripper); + dxl_slave.addControlItem(ADDR_PROFILE_ACC_RD, control_items.joint_profile_acc_rd); dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_1, control_items.joint_profile_vel.value[JOINT_1]); dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_2, control_items.joint_profile_vel.value[JOINT_2]); dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_3, control_items.joint_profile_vel.value[JOINT_3]); dxl_slave.addControlItem(ADDR_PROFILE_VEL_JOINT_4, control_items.joint_profile_vel.value[JOINT_4]); dxl_slave.addControlItem(ADDR_PROFILE_VEL_GRIPPER, control_items.joint_profile_vel.value[GRIPPER]); - dxl_slave.addControlItem(ADDR_PROFILE_VEL_UPDATE_WR, control_items.joint_profile_vel_update_wr); - dxl_slave.addControlItem(ADDR_PROFILE_VEL_UPDATE_RD, control_items.joint_profile_vel_update_rd); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_WR_JOINT, control_items.joint_profile_vel_wr_joint); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_WR_GRIPPER, control_items.joint_profile_vel_wr_gripper); + dxl_slave.addControlItem(ADDR_PROFILE_VEL_RD, control_items.joint_profile_vel_rd); + + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_JOINT_1, control_items.joint_goal_current.value[JOINT_1]); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_JOINT_2, control_items.joint_goal_current.value[JOINT_2]); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_JOINT_3, control_items.joint_goal_current.value[JOINT_3]); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_JOINT_4, control_items.joint_goal_current.value[JOINT_4]); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_GRIPPER, control_items.joint_goal_current.value[GRIPPER]); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_WR_JOINT, control_items.joint_goal_current_wr_joint); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_WR_GRIPPER, control_items.joint_goal_current_wr_gripper); + dxl_slave.addControlItem(ADDR_GOAL_CURRENT_RD, control_items.joint_goal_current_rd); } @@ -796,48 +836,97 @@ static void dxl_slave_write_callback_func(uint16_t item_addr, uint8_t &dxl_err_c manipulator_driver.set_torque(control_items.joint_torque_enable_state); break; - case ADDR_GOAL_POSITION_UPDATE_WR: - if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_position_update_wr == true) { - manipulator_driver.write_goal_position(control_items.joint_goal_position); + // ADDR_GOAL_POSITION + // + case ADDR_GOAL_POSITION_WR_JOINT: + if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_position_wr_joint == true) { + manipulator_driver.write_goal_position_joint(control_items.joint_goal_position); } - control_items.joint_goal_position_update_wr = false; + control_items.joint_goal_position_wr_joint = false; break; - case ADDR_GOAL_POSITION_UPDATE_RD: - if (control_items.joint_goal_position_update_rd == true) { + case ADDR_GOAL_POSITION_WR_GRIPPER: + if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_position_wr_gripper == true) { + manipulator_driver.write_goal_position_gripper(control_items.joint_goal_position); + } + control_items.joint_goal_position_wr_gripper = false; + break; + + case ADDR_GOAL_POSITION_RD: + if (control_items.joint_goal_position_rd == true) { manipulator_driver.read_goal_position(control_items.joint_goal_position); } - control_items.joint_goal_position_update_rd = false; + control_items.joint_goal_position_rd = false; break; - case ADDR_PROFILE_ACC_UPDATE_WR: - if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_acc_update_wr == true) { - manipulator_driver.write_profile_acceleration(control_items.joint_profile_acc); + // ADDR_PROFILE_ACC + // + case ADDR_PROFILE_ACC_WR_JOINT: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_acc_wr_joint == true) { + manipulator_driver.write_profile_acceleration_joint(control_items.joint_profile_acc); + } + control_items.joint_profile_acc_wr_joint = false; + break; + + case ADDR_PROFILE_ACC_WR_GRIPPER: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_acc_wr_gripper == true) { + manipulator_driver.write_profile_acceleration_gripper(control_items.joint_profile_acc); } - control_items.joint_profile_acc_update_wr = false; + control_items.joint_profile_acc_wr_joint = false; break; - case ADDR_PROFILE_ACC_UPDATE_RD: - if (control_items.joint_profile_acc_update_rd == true) { + case ADDR_PROFILE_ACC_RD: + if (control_items.joint_profile_acc_rd == true) { manipulator_driver.read_profile_acceleration(control_items.joint_profile_acc); } - control_items.joint_profile_acc_update_rd = false; + control_items.joint_profile_acc_rd = false; break; - case ADDR_PROFILE_VEL_UPDATE_WR: - if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_vel_update_wr == true) { - manipulator_driver.write_profile_velocity(control_items.joint_profile_vel); + // ADDR_PROFILE_VEL + // + case ADDR_PROFILE_VEL_WR_JOINT: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_vel_wr_joint == true) { + manipulator_driver.write_profile_velocity_joint(control_items.joint_profile_vel); } - control_items.joint_profile_vel_update_wr = false; + control_items.joint_profile_vel_wr_joint = false; break; - case ADDR_PROFILE_VEL_UPDATE_RD: - if (control_items.joint_profile_vel_update_rd == true) { + case ADDR_PROFILE_VEL_WR_GRIPPER: + if (get_connection_state_with_ros2_node() == true && control_items.joint_profile_vel_wr_gripper == true) { + manipulator_driver.write_profile_velocity_gripper(control_items.joint_profile_vel); + } + control_items.joint_profile_vel_wr_gripper = false; + break; + + case ADDR_PROFILE_VEL_RD: + if (control_items.joint_profile_vel_rd == true) { manipulator_driver.read_profile_velocity(control_items.joint_profile_vel); } - control_items.joint_profile_vel_update_rd = false; + control_items.joint_profile_vel_rd = false; + break; + + // ADDR_GOAL_CURRENT + // + case ADDR_GOAL_CURRENT_WR_JOINT: + if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_current_wr_joint == true) { + manipulator_driver.write_goal_current_joint(control_items.joint_goal_current); + } + control_items.joint_goal_current_wr_joint = false; break; + case ADDR_GOAL_CURRENT_WR_GRIPPER: + if (get_connection_state_with_ros2_node() == true && control_items.joint_goal_current_wr_gripper == true) { + manipulator_driver.write_goal_current_gripper(control_items.joint_goal_current); + } + control_items.joint_goal_current_wr_gripper = false; + break; + + case ADDR_GOAL_CURRENT_RD: + if (control_items.joint_goal_current_rd == true) { + manipulator_driver.read_goal_current(control_items.joint_goal_current); + } + control_items.joint_goal_current_rd = false; + break; } } From 73fc6bf181f6cf0ae39a7f5414456e21b0bfd3c3 Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 6 Oct 2022 13:08:22 +0900 Subject: [PATCH 6/7] revise example name Signed-off-by: Will Son --- .../turtlebot3_manipulation.ino} | 0 .../turtlebot3_ros2/include/turtlebot3/turtlebot3.h | 2 +- .../turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp | 8 +------- 3 files changed, 2 insertions(+), 8 deletions(-) rename arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/{turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino => turtlebot3_manipulation/turtlebot3_manipulation.ino} (100%) diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_manipulation/turtlebot3_manipulation.ino similarity index 100% rename from arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_with_open_manipulator/turtlebot3_with_open_manipulator.ino rename to arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/examples/turtlebot3_manipulation/turtlebot3_manipulation.ino diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h index cdddaa599..e9bec2161 100755 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/include/turtlebot3/turtlebot3.h @@ -36,7 +36,7 @@ #define DEBUG_PRINTLN(x) #endif -const uint8_t FIRMWARE_VER = 4; //Dynamixel2Arduino 0.3.0 or higher is required. +const uint8_t FIRMWARE_VER = 5; //DYNAMIXEL2Arduino v0.6.1 or higher is required. const uint32_t INTERVAL_MS_TO_CONTROL_MOTOR = 20; const uint32_t INTERVAL_MS_TO_UPDATE_CONTROL_ITEM = 20; diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp index 72bcb4b7d..a1ae26d5f 100644 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp @@ -188,8 +188,6 @@ enum ControlTableItemAddr{ ADDR_PROFILE_ACC_L = 174, ADDR_PROFILE_ACC_R = 178, - - ADDR_TORQUE_JOINT = 199, ADDR_GOAL_POSITION_JOINT_1 = 200, @@ -348,7 +346,7 @@ void TurtleBot3Core::begin(const char* model_name) bool ret; (void)ret; DEBUG_SERIAL_BEGIN(57600); DEBUG_PRINTLN(" "); - DEBUG_PRINTLN("Revision : V220906R2"); + DEBUG_PRINTLN("Version : V221004R1"); DEBUG_PRINTLN("Begin Start..."); // Setting for Dynamixel motors @@ -526,10 +524,6 @@ void TurtleBot3Core::begin(const char* model_name) dxl_slave.addControlItem(ADDR_GOAL_CURRENT_RD, control_items.joint_goal_current_rd); } - - - - // Set user callback function for processing write command from master. dxl_slave.setWriteCallbackFunc(dxl_slave_write_callback_func); From a5138f4efabae485155b47dacc19f8fe6e7079e7 Mon Sep 17 00:00:00 2001 From: Will Son Date: Thu, 13 Oct 2022 14:00:24 +0900 Subject: [PATCH 7/7] prepare release 1.5.2 Signed-off-by: Will Son --- .../turtlebot3_ros2/library.properties | 2 +- .../opencr_release/package_opencr_index.json | 31 +++++++++++++++++++ 2 files changed, 32 insertions(+), 1 deletion(-) diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/library.properties b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/library.properties index 36f38761d..3e9accd4b 100755 --- a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/library.properties +++ b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/library.properties @@ -1,5 +1,5 @@ name=TurtleBot3 ROS2 -version=0.1.0 +version=1.0.0 author=Kei Ki maintainer=Will Son(willson@robotis.com) sentence=library for TurtleBot3 ROS2 using DYNAMIXEL 2.0 protocol diff --git a/arduino/opencr_release/package_opencr_index.json b/arduino/opencr_release/package_opencr_index.json index b9303f85f..684a3ca42 100644 --- a/arduino/opencr_release/package_opencr_index.json +++ b/arduino/opencr_release/package_opencr_index.json @@ -1496,6 +1496,37 @@ "version": "1.0.0" } ] + }, + { + "name": "OpenCR", + "architecture": "OpenCR", + "version": "1.5.2", + "category": "Arduino", + "help": { + "online": "https://github.com/ROBOTIS-GIT/OpenCR" + }, + "url": "https://github.com/ROBOTIS-GIT/OpenCR/releases/download/1.5.2/opencr.tar.bz2", + "archiveFileName": "opencr.tar.bz2", + "checksum": "SHA-256:578b4cfd399a1df2db1f3995b9d73efcd79bee10d1e4cfab91a3c01a519c369c", + "size": "2020884", + "help": { + "online": "http://emanual.robotis.com/docs/en/parts/controller/opencr10/" + }, + "boards": [ + {"name": "OpenCR"} + ], + "toolsDependencies": [ + { + "packager": "OpenCR", + "name": "opencr_gcc", + "version": "5.4.0-2016q2" + }, + { + "packager": "OpenCR", + "name": "opencr_tools", + "version": "1.0.0" + } + ] } ], "tools":[

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