From c963bb9a3e37863934721df7b137e444c15267de Mon Sep 17 00:00:00 2001 From: Guillaume Gibert Date: Thu, 14 Dec 2023 10:57:13 +0100 Subject: [PATCH] Save --- Screenshot from 2023-12-14 10-35-18.png | Bin 0 -> 19395 bytes Screenshot from 2023-12-14 10-36-40.png | Bin 0 -> 50696 bytes poppy_ros.cpp | 88 ++++++++++++++++++++++++ 3 files changed, 88 insertions(+) create mode 100644 Screenshot from 2023-12-14 10-35-18.png create mode 100644 Screenshot from 2023-12-14 10-36-40.png create mode 100644 poppy_ros.cpp diff --git a/Screenshot from 2023-12-14 10-35-18.png b/Screenshot from 2023-12-14 10-35-18.png new file mode 100644 index 0000000000000000000000000000000000000000..f2d92d361ea007b4eea6da212b8d442b2caa232a GIT binary patch literal 19395 zcmcG0WmH_vwk;AMxVwcA2=4Cg?(XjH?m>gQ2X}WGm!ORk+}+(DC;7f}&mH%?JMMjB zy#7HqyQ_B9uD#cqbIrA?zsbpn!o%RefPjF&i;D>JfE1W+sZ{`SF9 zKwRnL`^)R2QP}(c*iOP~PKvfBPOkb6#vrCPw${efj)o4##x{;-woYf@03HyKPaxt# 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+float _poppyDxlProtocol = 2.0; +int _poppyDxlBaudRate = 1000000; + +DynamixelHandler Dxl; + +void jointCommandCallback(const geometry_msgs::Twist& joint_cmd) +{ + // Create a vector of uint16_t + std::vector joint_values; + + joint_values.push_back(joint_cmd.linear.x); + joint_values.push_back(joint_cmd.linear.y); + joint_values.push_back(joint_cmd.linear.z); + + joint_values.push_back(joint_cmd.angular.x); + joint_values.push_back(joint_cmd.angular.y); + joint_values.push_back(joint_cmd.angular.z); + + Dxl.sendTargetJointPosition(joint_values); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "poppy_ros"); + ros::NodeHandle nh; + + ros::Subscriber sub = nh.subscribe("joint_cmd", 1, jointCommandCallback); + ros::Publisher pub = nh.advertise("joint_position", 1); + + ros::Rate loopRate(10); + + // create a Twist message + geometry_msgs::Twist jointPositionMsg; + + std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl; + Dxl.setDeviceName(_poppyDxlPortName); + Dxl.setProtocolVersion(_poppyDxlProtocol); + Dxl.openPort(); + Dxl.setBaudRate(_poppyDxlBaudRate); + Dxl.enableTorque(false); + std::cout << std::endl; + + + + ROS_INFO("===Launching Poppy node==="); + + // loop until Ctrl+C is pressed or ROS connectivity issues + while(ros::ok()) + { + //===RETRIEVE Dynamixel Motor positions==== + std::vector l_vCurrentJointPosition; + bool bIsReadSuccessfull = Dxl.readCurrentJointPosition(l_vCurrentJointPosition); + + // stores them into a msg + if (bIsReadSuccessfull) + { + jointPositionMsg.linear.x = l_vCurrentJointPosition[0]; + jointPositionMsg.linear.y = l_vCurrentJointPosition[1]; + jointPositionMsg.linear.z = l_vCurrentJointPosition[2]; + jointPositionMsg.angular.x = l_vCurrentJointPosition[3]; + jointPositionMsg.angular.y = l_vCurrentJointPosition[4]; + jointPositionMsg.angular.z = l_vCurrentJointPosition[5]; + } + + // publish the Twist message to the joint_position topic + pub.publish(jointPositionMsg); + + // spin once to let the process handle callback ad key stroke + ros::spinOnce(); + + // sleep the right amout of time to comply with _fps + loopRate.sleep(); + } + + Dxl.enableTorque(false); + Dxl.closePort(); + + return 0; +}