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Correction of the repo error (2).

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Charles STELANDRE 2025-12-17 09:36:20 +01:00
parent b7ae8fe0b4
commit 41c2bb13a7
22 changed files with 1730 additions and 0 deletions
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src/advrobotics_lab3_interfaces/.gitignore vendored Normal file
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# ---> C++
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app

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cmake_minimum_required(VERSION 3.8)
project(advrobotics_lab3_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Joints.msg"
"msg/Gripper.msg"
"srv/Invkin.srv"
DEPENDENCIES std_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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GNU GENERAL PUBLIC LICENSE
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advrobotics_lab3_interfaces
Copyright (C) 2025 AdvRobotics.EENG4
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
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Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:
advrobotics_lab3_interfaces Copyright (C) 2025 AdvRobotics.EENG4
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.
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src/advrobotics_lab3_interfaces/README.md Normal file
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# advrobotics_lab3_interfaces

1
src/advrobotics_lab3_interfaces/msg/Gripper.msg Normal file
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float32 gripper

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src/advrobotics_lab3_interfaces/msg/Joints.msg Normal file
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float32 q1
float32 q2
float32 q3

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src/advrobotics_lab3_interfaces/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>advrobotics_lab3_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="guillaume.gibert@ecam.fr">ros</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>std_msgs</depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

8
src/advrobotics_lab3_interfaces/srv/Invkin.srv Normal file
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@ -0,0 +1,8 @@
float32 x
float32 y
float32 z
---
int8 sol
float32 q1
float32 q2
float32 q3

34
src/advrobotics_lab3_ros2/.gitignore vendored Normal file
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@ -0,0 +1,34 @@
# ---> C++
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app

51
src/advrobotics_lab3_ros2/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(advrobotics_lab3_ros2)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(advrobotics_lab3_interfaces REQUIRED)
include_directories(
include
include/toolkit-dynamixel
)
add_executable(ik_server src/ik_server.cpp src/Kinematics.cpp)
ament_target_dependencies(ik_server rclcpp advrobotics_lab3_interfaces)
add_executable(ik_client src/ik_client.cpp src/Kinematics.cpp)
ament_target_dependencies(ik_client rclcpp advrobotics_lab3_interfaces)
add_executable(poppy_core src/PoppyDriver.cpp src/toolkit-dynamixel/DynamixelHandler.cpp)
ament_target_dependencies(poppy_core rclcpp advrobotics_lab3_interfaces)
target_link_libraries(poppy_core dxl_x64_cpp rt)
install(TARGETS
ik_server
ik_client
poppy_core
DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

232
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@ -0,0 +1,232 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright © 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for software and other kinds of works.
The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.
When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.
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Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.
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The precise terms and conditions for copying, distribution and modification follow.
TERMS AND CONDITIONS
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Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.
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If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.
14. Revised Versions of this License.
The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.
If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.
Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.
advrobotics_lab3_ros2
Copyright (C) 2025 AdvRobotics.EENG4
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:
advrobotics_lab3_ros2 Copyright (C) 2025 AdvRobotics.EENG4
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.
You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see <https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read <https://www.gnu.org/philosophy/why-not-lgpl.html>.

2
src/advrobotics_lab3_ros2/README.md Normal file
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# advrobotics_lab3_ros2

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src/advrobotics_lab3_ros2/include/Kinematics.h Normal file
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#ifndef _KINEMATICS_
#define _KINEMATICS_
#define _USE_MATH_DEFINES
#include <cmath>
#include <vector>
#include <iostream>
#define LINK1 4
#define LINK2 7
#define LINK3 12
//#include "opencv2/opencv.hpp"
float deg2rad(float angle);
float rad2deg(float angle);
std::vector<float> computeForwardKinematics(float q1, float q2, float q3, float L1, float L2, float L3);
std::vector<float> computeInverseKinematics(float x, float y, float z, float L1, float L2, float L3);
/*std::vector<float> computeDifferentialKinematics(float q1, float q2, float q3, float L1, float L2, float L3);
int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold);
cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix);
*/
#endif

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src/advrobotics_lab3_ros2/include/toolkit-dynamixel/DynamixelAX12A.h Normal file
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#define ADDR_AX12A_TORQUE_ENABLE 24 // Control table address is different in Dynamixel model
#define ADDR_AX12A_LED_ENABLE 25
#define ADDR_AX12A_GOAL_POSITION 30
#define ADDR_AX12A_MIN_POSITION 6
#define ADDR_AX12A_MAX_POSITION 8
#define ADDR_AX12A_CURRENT_POSITION 36
#define ADDR_AX12A_CURRENT_LOAD 40
#define ADDR_AX12A_MAX_LOAD 14
#define ADDR_AX12A_LIMIT_LOAD 34
#define ADDR_AX12A_CURRENT_VOLTAGE 42
#define ADDR_AX12A_MIN_VOLTAGE 12
#define ADDR_AX12A_MAX_VOLTAGE 13
#define ADDR_AX12A_CURRENT_TEMPERATURE 43
#define ADDR_AX12A_MAX_TEMPERATURE 11

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src/advrobotics_lab3_ros2/include/toolkit-dynamixel/DynamixelHandler.h Normal file
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#if defined(__linux__) || defined(__APPLE__)
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
#define STDIN_FILENO 0
#elif defined(_WIN32) || defined(_WIN64)
#include <conio.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <iostream>
#include <vector>
#include "dynamixel_sdk/dynamixel_sdk.h"
#include "DynamixelAX12A.h"
#define ADDR_XL320_TORQUE_ENABLE 24
#define ADDR_XL320_LED_ON 25
#define ADDR_XL320_D_GAIN 27
#define ADDR_XL320_I_GAIN 28
#define ADDR_XL320_P_GAIN 29
#define ADDR_XL320_GOAL_POSITION 30
#define ADDR_XL320_GOAL_VELOCITY 32
#define ADDR_XL320_GOAL_TORQUE 35
#define ADDR_XL320_PRESENT_POSITION 37
#define ADDR_XL320_PRESENT_VELOCITY 39
#define ADDR_XL320_PRESENT_LOAD 41
#define ADDR_XL320_PRESENT_VOLTAGE 45
#define ADDR_XL320_PRESENT_TEMPERATURE 46
#define ADDR_XL320_HARDWARE_ERROR_STATUS 50
#define NB_JOINTS 4
class DynamixelHandler
{
public:
DynamixelHandler();
~DynamixelHandler();
public:
//scan();
//ping();
//reboot();
bool openPort();
void closePort();
bool setBaudRate(int);
void setDeviceName(std::string);
void setProtocolVersion(float);
bool enableTorque(bool);
bool readCurrentJointPosition(std::vector<uint16_t>& vCurrentJointPosition);
bool readCurrentJointTorque(std::vector<uint16_t>& vCurrentJointTorque);
bool sendTargetJointPosition(std::vector<uint16_t>& vTargetJointPosition);
private:
std::string m_sDeviceName;
float m_fProtocolVersion;
int m_i32BaudRate;
dynamixel::PortHandler* m_pPortHandler;
dynamixel::PacketHandler* m_pPacketHandler;
bool m_bIsDeviceNameSet;
bool m_bIsProtocolVersionSet;
bool m_bIsPortOpened;
bool m_bIsBaudRateSet;
int m_i32DxlCommunicationResult; // Communication result
uint8_t m_ui8DxlError; // Dynamixel error
std::vector<uint16_t> m_vDxlCurrentPosition; // Present position
};

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src/advrobotics_lab3_ros2/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>advrobotics_lab3_ros2</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="guillaume.gibert@ecam.fr">ros</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>advrobotics_lab3_interfaces</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/advrobotics_lab3_ros2/src/Kinematics.cpp Normal file
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#include "Kinematics.h"
float deg2rad(float angle)
{
return angle/180.0*M_PI;
}
float rad2deg(float angle)
{
return angle*180.0/M_PI;
}
std::vector<float> computeForwardKinematics(float q1, float q2, float q3, float L1, float L2, float L3)
{
float z = L2 * cos(q2) + L3 * cos(q2+q3) + L1;
float xp = L2 * sin(q2) + L3 * sin(q2+q3);
float x = xp * cos(q1);
float y = xp * sin(q1);
//std::cout << "[INFO] Forward Kinematics : (q1, q2, q3)->(x, y, z) = (" << rad2deg(q1) << ", " << rad2deg(q2) << ", " << rad2deg(q3) << ")->(" << x << ", " << y << ", " << z << ")" << std::endl;
std::vector<float> X;
X.push_back(x);
X.push_back(y);
X.push_back(z);
return X;
}
std::vector<float> computeInverseKinematics(float x, float y, float z, float L1, float L2, float L3)
{
std::vector<float> qi;
// Determines q1
float q1 = atan2(y, x);
// Determines cos(q3) to find out the number of solutions
float xp = sqrt(x*x + y*y);
float zc = z - L1;
float cos_q3 = (zc*zc+xp*xp-(L2*L2+L3*L3)) / (2.0 * L2 * L3);
//std::cout << "[INFO] cos_q3= " << cos_q3 << std::endl;
if (cos_q3 >1 | cos_q3 <-1)
{
qi.push_back(0.0);
std::cout << "[INFO] Inverse Kinematics: No solution!" << std::endl;
}
else if (cos_q3 == 1)
{
qi.push_back(1.0);
float q2 = atan2(xp, zc);
float q3 = 0;
std::cout << "[INFO] Inverse Kinematics: One solution: (x, y, z)->(q1, q2, q3) = (" << x << ", " << y << ", " << z << ")->(" << rad2deg(q1) << ", " << rad2deg(q2) << ", " << rad2deg(q3) << ")" << std::endl;
qi.push_back(q1);
qi.push_back(q2);
qi.push_back(q3);
}
else if (cos_q3 == -1)
{
qi.push_back(1.0);
float q2 = atan2(xp, zc);
float q3 = M_PI;
std::cout << "[INFO] Inverse Kinematics: One solution: (x, y, z)->(q1, q2, q3) = (" << x << ", " << y << ", " << z << ")->(" << rad2deg(q1) << ", " << rad2deg(q2) << ", " << rad2deg(q3) << ")" << std::endl;
qi.push_back(q1);
qi.push_back(q2);
qi.push_back(q3);
}
else
{
qi.push_back(2.0);
std::cout << "[INFO] Inverse Kinematics: Two solutions: "<< std::endl;
float q3 = acos(cos_q3);
float q2 = (float)(atan2(xp, zc) - atan2(L2*sin(q3), L1+L2*cos_q3));
std::cout << "\t(x, y)->(q1, q2, q3) = (" << x << ", " << y << ", " << z << ")->(" << rad2deg(q1) << ", " << rad2deg(q2) << ", " << rad2deg(q3) << ")" << std::endl;
qi.push_back(q1);
qi.push_back(q2);
qi.push_back(q3);
q3 = -acos(cos_q3);
q2 = (float)(atan2(xp, zc) - atan2(L2*sin(q3), L1+L2*cos_q3));
std::cout << "\t(x, y)->(q1, q2, q3) = (" << x << ", " << y << ", " << z << ")->(" << rad2deg(q1) << ", " << rad2deg(q2) << ", " << rad2deg(q3) << ")" << std::endl;
qi.push_back(q1);
qi.push_back(q2);
qi.push_back(q3);
}
return qi;
}
/*std::vector<float> computeDifferentialKinematics(float q1, float q2, float q3, float L1, float L2, float L3)
{
std::vector<float> jacobian;
float j11 = -sin(q1)*(L2*sin(q2) + L3*sin(q2+q3));
float j12 = L2*cos(q1)*cos(q2)+L3*cos(q1)*cos(q2+q3);
float j13 = L3*cos(q1)*cos(q2+q3);
float j21 = cos(q1)*(L2*sin(q2)+L3*sin(q2+q3));
float j22 = L2*sin(q1)*cos(q2)+L3*sin(q1)*cos(q2+q3);
float j23 = L3*sin(q1)*cos(q2+q3);
float j31 = 0;
float j32 = -L2*sin(q2)-L3*sin(q2+q3);
float j33 = -L3*sin(q2+q3);
jacobian.push_back(j11); jacobian.push_back(j12); jacobian.push_back(j13);
jacobian.push_back(j21); jacobian.push_back(j22); jacobian.push_back(j23);
jacobian.push_back(j31); jacobian.push_back(j32); jacobian.push_back(j33);
return jacobian;
}
int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold)
{
int rank = -1;
cv::Mat1f oJacobianMatrix(3, 3);
if (vJacobianMatrix.size() == 9)
{
// Converts the Jacobian matrix from std::vector to cv::Mat
oJacobianMatrix.at<float>(0, 0) = vJacobianMatrix[0];
oJacobianMatrix.at<float>(0, 1) = vJacobianMatrix[1];
oJacobianMatrix.at<float>(0, 2) = vJacobianMatrix[2];
oJacobianMatrix.at<float>(1, 0) = vJacobianMatrix[3];
oJacobianMatrix.at<float>(1, 1) = vJacobianMatrix[4];
oJacobianMatrix.at<float>(1, 2) = vJacobianMatrix[5];
oJacobianMatrix.at<float>(2, 0) = vJacobianMatrix[6];
oJacobianMatrix.at<float>(2, 1) = vJacobianMatrix[7];
oJacobianMatrix.at<float>(2, 2) = vJacobianMatrix[8];
std::cout << "=====Jacobian Matrix=====" << std::endl;
std::cout << "[ " << oJacobianMatrix.at<float>(0,0) << ", " << oJacobianMatrix.at<float>(0,1) << ", " << oJacobianMatrix.at<float>(0,2) << " ]" << std::endl;
std::cout << "[ " << oJacobianMatrix.at<float>(1,0) << ", " << oJacobianMatrix.at<float>(1,1) << ", " << oJacobianMatrix.at<float>(1,2)<< " ]" << std::endl;
std::cout << "[ " << oJacobianMatrix.at<float>(2,0) << ", " << oJacobianMatrix.at<float>(2,1) << ", " << oJacobianMatrix.at<float>(2,2)<< " ]" << std::endl;
// Computes the determinant of the Jacobian matrix
float determinant = abs(-vJacobianMatrix[7]*(vJacobianMatrix[0] * vJacobianMatrix[5] - vJacobianMatrix[3]*vJacobianMatrix[2])+vJacobianMatrix[8]*(vJacobianMatrix[0] * vJacobianMatrix[4] - vJacobianMatrix[3]*vJacobianMatrix[3]));
std::cout << "=====Determinant of the Jacobian matrix=====" << std::endl << determinant << std::endl;
// Computes SVD
cv::Mat1f w, u, vt;
cv::SVD::compute(oJacobianMatrix, w, u, vt);
// Finds non zero singular values
cv::Mat1f nonZeroSingularValues = w/w.at<float>(0,0) > threshold;
// Counts the number of non zero singular values
rank = cv::countNonZero(nonZeroSingularValues);
std::cout << "=====Rank of the Jacobian matrix=====" << std::endl << rank << " / " << oJacobianMatrix.rows << std::endl;
// Determines the inverse of the Jacobian matrix
cv::Mat oJacobianInverse = oJacobianMatrix.inv();
std::cout << "=====Inverse of the Jacobian Matrix=====" << std::endl;
std::cout << "[ " << oJacobianInverse.at<float>(0,0) << ", " << oJacobianInverse.at<float>(0,1)<< ", " << oJacobianInverse.at<float>(0,2) << " ]" << std::endl;
std::cout << "[ " << oJacobianInverse.at<float>(1,0) << ", " << oJacobianInverse.at<float>(1,1) << ", " << oJacobianInverse.at<float>(1,2)<< " ]" << std::endl;
std::cout << "[ " << oJacobianInverse.at<float>(2,0) << ", " << oJacobianInverse.at<float>(2,1) << ", " << oJacobianInverse.at<float>(2,2)<< " ]" << std::endl;
}
else
std::cout << "[ERROR] Jacobian matrix has a size of "<< vJacobianMatrix.size() << " instead of 4" << std::endl;
return rank;
}
cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix)
{
cv::Mat1f oJacobianMatrix(2, 2);
cv::Mat oJacobianInverse;
if (vJacobianMatrix.size() == 4)
{
// Converts the Jacobian matrix from std::vector to cv::Mat
oJacobianMatrix.at<float>(0, 0) = vJacobianMatrix[0];
oJacobianMatrix.at<float>(0, 1) = vJacobianMatrix[1];
oJacobianMatrix.at<float>(1, 0) = vJacobianMatrix[2];
oJacobianMatrix.at<float>(1, 1) = vJacobianMatrix[3];
std::cout << "=====Jacobian Matrix=====" << std::endl;
std::cout << "[ " << oJacobianMatrix.at<float>(0,0) << ", " << oJacobianMatrix.at<float>(0,1) << " ]" << std::endl;
std::cout << "[ " << oJacobianMatrix.at<float>(1,0) << ", " << oJacobianMatrix.at<float>(1,1) << " ]" << std::endl;
// Determines the inverse of the Jacobian matrix
cv::invert(oJacobianMatrix, oJacobianInverse, cv::DECOMP_SVD);
//oJacobianInverse = oJacobianMatrix.inv();
std::cout << "=====Inverse of the Jacobian Matrix=====" << std::endl;
std::cout << "[ " << oJacobianInverse.at<float>(0,0) << ", " << oJacobianInverse.at<float>(0,1) << " ]" << std::endl;
std::cout << "[ " << oJacobianInverse.at<float>(1,0) << ", " << oJacobianInverse.at<float>(1,1) << " ]" << std::endl;
}
else
std::cout << "[ERROR] Jacobian matrix has a size of "<< vJacobianMatrix.size() << " instead of 4" << std::endl;
return oJacobianInverse;
}*/

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src/advrobotics_lab3_ros2/src/PoppyDriver.cpp Normal file
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#include "rclcpp/rclcpp.hpp"
#include "advrobotics_lab3_interfaces/msg/joints.hpp"
#include "advrobotics_lab3_interfaces/msg/gripper.hpp"
#include "DynamixelHandler.h"
using namespace std::chrono_literals;
class PoppyDriver : public rclcpp::Node
{
public:
PoppyDriver() : Node("poppy_core")
{
jointCmdSubscriber = this->create_subscription<advrobotics_lab3_interfaces::msg::Joints>(
"joint_cmd", 10,
std::bind(&PoppyDriver::jointCmdCallback, this, std::placeholders::_1));
gripperCmdSubscriber = this->create_subscription<advrobotics_lab3_interfaces::msg::Gripper>(
"gripper_cmd", 10,
std::bind(&PoppyDriver::gripperCmdCallback, this, std::placeholders::_1));
jointPositionPublisher = this->create_publisher<advrobotics_lab3_interfaces::msg::Joints>("joint_position", 10);
gripperPositionPublisher = this->create_publisher<advrobotics_lab3_interfaces::msg::Gripper>("gripper_position", 10);
_timer = this->create_wall_timer(10ms, std::bind(&PoppyDriver::timerCallback, this));
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.setDeviceName(_poppyDxlPortName);
_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
_oDxlHandler.openPort();
_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
_oDxlHandler.enableTorque(true);
std::cout << std::endl;
}
~PoppyDriver()
{
_oDxlHandler.enableTorque(false);
_oDxlHandler.closePort();
}
private:
void jointCmdCallback(const advrobotics_lab3_interfaces::msg::Joints::SharedPtr jointAngles)
{
std::vector<uint16_t> l_vTargetJointPosition;
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q1));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q2));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q3));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentGripperAngle));
_currentJointAngle_q1 = jointAngles->q1;
_currentJointAngle_q2 = jointAngles->q2;
_currentJointAngle_q3 = jointAngles->q3;
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
void gripperCmdCallback(const advrobotics_lab3_interfaces::msg::Gripper::SharedPtr gripperAngle)
{
std::vector<uint16_t> l_vTargetJointPosition;
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q1));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q2));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q3));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(gripperAngle->gripper));
_currentGripperAngle = gripperAngle->gripper;
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
void timerCallback()
{
std::vector<uint16_t> l_vCurrentJointPosition;
bool bIsReadSuccessfull = _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
if (bIsReadSuccessfull && l_vCurrentJointPosition.size() >= 4)
{
auto jointPositionMsg = advrobotics_lab3_interfaces::msg::Joints();
auto gripperPositionMsg = advrobotics_lab3_interfaces::msg::Gripper();
jointPositionMsg.q1 = convertJointCmdToAngles(l_vCurrentJointPosition[0]);
jointPositionMsg.q2 = convertJointCmdToAngles(l_vCurrentJointPosition[1]);
jointPositionMsg.q3 = convertJointCmdToAngles(l_vCurrentJointPosition[2]);
gripperPositionMsg.gripper = convertJointCmdToAngles(l_vCurrentJointPosition[3]);
jointPositionPublisher->publish(jointPositionMsg);
gripperPositionPublisher->publish(gripperPositionMsg);
}
}
int convertAnglesToJointCmd(float fJointAngle)
{
// y = ax + b
float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
float b = _minJointCmd - a * _minJointAngle;
float jointCmd = a * fJointAngle + b;
return (int)jointCmd;
}
float convertJointCmdToAngles(float fJointCmd)
{
// y = ax + b
float a = (_maxJointAngle - _minJointAngle) / (_maxJointCmd-_minJointCmd);
float b = _minJointAngle - a * _minJointCmd;
float jointAngle = a * fJointCmd + b;
return jointAngle;
}
void goToHomePosition()
{
std::vector<uint16_t> l_vTargetJointPosition;
for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
private:
rclcpp::Subscription<advrobotics_lab3_interfaces::msg::Joints>::SharedPtr jointCmdSubscriber;
rclcpp::Subscription<advrobotics_lab3_interfaces::msg::Gripper>::SharedPtr gripperCmdSubscriber;
rclcpp::Publisher<advrobotics_lab3_interfaces::msg::Joints>::SharedPtr jointPositionPublisher;
rclcpp::Publisher<advrobotics_lab3_interfaces::msg::Gripper>::SharedPtr gripperPositionPublisher;
rclcpp::TimerBase::SharedPtr _timer;
DynamixelHandler _oDxlHandler;
std::string _poppyDxlPortName = "/dev/ttyUSB0";
float _poppyDxlProtocol = 2.0;
int _poppyDxlBaudRate = 1000000;
float _currentJointAngle_q1 = 0.0f;
float _currentJointAngle_q2 = 0.0f;
float _currentJointAngle_q3 = 0.0f;
float _currentGripperAngle = 0.0f;
int _nbJoints = 4;
float _minJointCmd = 0;
float _maxJointCmd = 1023;
float _minJointAngle = -150.0f;
float _maxJointAngle = 150.0f;
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<PoppyDriver>());
rclcpp::shutdown();
return 0;
}

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src/advrobotics_lab3_ros2/src/ik_client.cpp Normal file
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#include "math.h"
#include <chrono>
#include <cstdlib>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "advrobotics_lab3_interfaces/srv/invkin.hpp"
#include "advrobotics_lab3_interfaces/msg/joints.hpp"
#include "Kinematics.h"
using namespace std::chrono_literals;
double deg2rad(double angle)
{
return -angle / 180.0 * M_PI;
}
int main(int argc, char** argv)
{
// inits ROS2
rclcpp::init(argc, argv);
if (argc != 4)
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: rosrun advrobotics_lab3_ros2 ik_client x y z");
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "ex.: rosrun advrobotics_lab3_ros2 ik_client 6 9 0");
return 1;
}
// creates the client node
std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("ik_client");
rclcpp::Client<advrobotics_lab3_interfaces::srv::Invkin>::SharedPtr client =
node->create_client<advrobotics_lab3_interfaces::srv::Invkin>("invkin");
// creates a publisher to move the robot joints
auto publisher = node->create_publisher<advrobotics_lab3_interfaces::msg::Joints>("joint_cmd", 10);
// creates the request from the input args
auto request = std::make_shared<advrobotics_lab3_interfaces::srv::Invkin::Request>();
request->x = atof(argv[1]);
request->y = atof(argv[2]);
request->z = atof(argv[3]);
// connects to the service
while (!client->wait_for_service(1s))
{
if (!rclcpp::ok())
{
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Interrupted while waiting for the service. Exiting.");
return 0;
}
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "[WARNING] service not available, waiting again...");
}
// sends the request
auto result = client->async_send_request(request);
// waitw for the result.
if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS)
{
// gets the result
auto response = result.get();
// displays i/o values
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK: (x,y,z) --> (J1, J2, j3)");
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "(%f, %f, %f) --> (%f, %f, %f)", atof(argv[1]), atof(argv[2]), atof(argv[3]), rad2deg(response->q1), rad2deg(response->q2), rad2deg(response->q3));
// creates a message to publish
advrobotics_lab3_interfaces::msg::Joints jointCmdMsg;
jointCmdMsg.q1 = rad2deg(response->q1);
jointCmdMsg.q2 = rad2deg(response->q2);
jointCmdMsg.q3 = rad2deg(response->q3);
// publises the message to move the robot joints
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Publish to joint_cmd topic...");
publisher->publish(jointCmdMsg);
rclcpp::Rate rate(1);
rate.sleep();
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Done!");
}
else
{
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "[ERROR] Failed to call service invkin");
}
rclcpp::shutdown();
return 0;
}

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src/advrobotics_lab3_ros2/src/ik_server.cpp Normal file
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#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "advrobotics_lab3_interfaces/srv/invkin.hpp"
#include "Kinematics.h"
void ik(const std::shared_ptr<advrobotics_lab3_interfaces::srv::Invkin::Request> request, std::shared_ptr<advrobotics_lab3_interfaces::srv::Invkin::Response> response)
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "================================================");
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK for (%f, %f, %f) in progress...", request->x, request->y, request->z);
std::vector<float> qi = computeInverseKinematics(request->x, request->y, request->z, LINK1, LINK2, LINK3);
response->sol = qi[0];
response->q1 = qi[1];
response->q2 = qi[2];
response->q3 = qi[3];
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK: (x,y,z) --> (J1, J2, J3)");
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "(%f, %f, %f) --> (%f, %f, %f)", request->x, request->y, request->z, rad2deg(response->q1), rad2deg(response->q2), rad2deg(response->q3));
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "-----------------------------------------------------------------------------------------------------------");
}
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("ik_server");
rclcpp::Service<advrobotics_lab3_interfaces::srv::Invkin>::SharedPtr service = node->create_service<advrobotics_lab3_interfaces::srv::Invkin>("invkin", &ik);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IK server launched...");
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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src/advrobotics_lab3_ros2/src/poppy_core.cpp Normal file
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#include <signal.h>
#include "DynamixelHandler.h"
#include <ros/ros.h>
#include "advrobotics_lab3/joints.h"
#include "advrobotics_lab3/gripper.h"
// Global variables
float _fps = 10.0f; // Hz
ros::Publisher _jointPositionPublisher;
ros::Publisher _gripperPositionPublisher;
DynamixelHandler _oDxlHandler;
std::string _poppyDxlPortName = "/dev/ttyUSB0";
float _poppyDxlProtocol = 2.0;
int _poppyDxlBaudRate = 1000000;
int _nbJoints = 4;
float _minJointCmd = 0;
float _maxJointCmd = 1023;
float _minJointAngle = -150.0f;
float _maxJointAngle = 150.0f;
float _currentJointAngle_q1 = 0.0f;
float _currentJointAngle_q2 = 0.0f;
float _currentJointAngle_q3 = 0.0f;
float _currentGripperAngle = 0.0f;
int convertAnglesToJointCmd(float fJointAngle)
{
// y = ax + b
float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
float b = _minJointCmd - a * _minJointAngle;
float jointCmd = a * fJointAngle + b;
return (int)jointCmd;
}
float convertJointCmdToAngles(float fJointCmd)
{
// y = ax + b
float a = (_maxJointAngle - _minJointAngle) / (_maxJointCmd-_minJointCmd);
float b = _minJointAngle - a * _minJointCmd;
float jointAngle = a * fJointCmd + b;
return jointAngle;
}
void goToHomePosition()
{
std::vector<uint16_t> l_vTargetJointPosition;
for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
void customSigIntHandler(int sig)
{
ROS_INFO("===Stopping Poppy node===");
// shutdown ROS
ros::shutdown();
}
void jointCmdCallback(const advrobotics_lab3::joints::ConstPtr& jointAngles)
{
std::vector<uint16_t> l_vTargetJointPosition;
//std::cout << "(q1,q2,q3) = (" << jointAngles->q1 << ", " << jointAngles->q2 << ", " << jointAngles->q3 << ")" << std::endl;
//std::cout << "_currentGripperAngle = (" << _currentGripperAngle << ")" << std::endl;
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q1));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q2));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(jointAngles->q3));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentGripperAngle));
_currentJointAngle_q1 = jointAngles->q1;
_currentJointAngle_q2 = jointAngles->q2;
_currentJointAngle_q3 = jointAngles->q3;
//std::cout << "l_vTargetJointPosition = (" << l_vTargetJointPosition[0] << ", " << l_vTargetJointPosition[1] << ", " <<l_vTargetJointPosition[2] << ", " << l_vTargetJointPosition[3] << ")" << std::endl;
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
void gripperCmdCallback(const advrobotics_lab3::gripper::ConstPtr& gripperAngle)
{
std::vector<uint16_t> l_vTargetJointPosition;
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q1));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q2));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(_currentJointAngle_q3));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(gripperAngle->gripper));
_currentGripperAngle = gripperAngle->gripper;
//std::cout << "l_vTargetJointPosition= " << _currentJointAngle_q1 << ", " << _currentJointAngle_q2 << ", " << _currentJointAngle_q3 << ", " << gripperAngle->gripper << std::endl;
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
int main(int argc, char** argv)
{
// create a node called poppy_core
ros::init(argc, argv, "poppy_core", ros::init_options::NoSigintHandler);
// create a node handle
ros::NodeHandle nh;
// override the default sigint handler (must be set after the first node handler is created)
signal(SIGINT, customSigIntHandler);
// create a publisher to joint_position topic
_jointPositionPublisher = nh.advertise<advrobotics_lab3::joints>("joint_position", 1);
// create a publisher to joint_position topic
_gripperPositionPublisher = nh.advertise<advrobotics_lab3::gripper>("gripper_position", 1);
// create a subscriber to joint_cmd topic
ros::Subscriber jointCmdSubscriber = nh.subscribe("joint_cmd", 1, jointCmdCallback);
// create a subscriber to joint_cmd topic
ros::Subscriber gripperCmdSubscriber = nh.subscribe("gripper_cmd", 1, gripperCmdCallback);
// create a loop rate
ros::Rate loopRate(_fps);
// create a custom joints message
advrobotics_lab3::joints jointPositionMsg;
// create a custom gripper message
advrobotics_lab3::gripper gripperPositionMsg;
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.setDeviceName(_poppyDxlPortName);
_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
_oDxlHandler.openPort();
_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
_oDxlHandler.enableTorque(true);
std::cout << std::endl;
goToHomePosition();
ROS_INFO("===Launching Poppy node===");
// loop until Ctrl+C is pressed or ROS connectivity issues
while(ros::ok())
{
//===RETRIEVE Dynamixel Motor positions====
std::vector<uint16_t> l_vCurrentJointPosition;
bool bIsReadSuccessfull = _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
// stores them into a msg
if (bIsReadSuccessfull && l_vCurrentJointPosition.size() >= 4)
{
jointPositionMsg.q1 = convertJointCmdToAngles(l_vCurrentJointPosition[0]);
jointPositionMsg.q2 = convertJointCmdToAngles(l_vCurrentJointPosition[1]);
jointPositionMsg.q3 = convertJointCmdToAngles(l_vCurrentJointPosition[2]);
gripperPositionMsg.gripper = convertJointCmdToAngles(l_vCurrentJointPosition[3]);
/*_currentJointAngle_q1 = convertJointCmdToAngles(l_vCurrentJointPosition[0]);
_currentJointAngle_q2 = convertJointCmdToAngles(l_vCurrentJointPosition[1]);
_currentJointAngle_q3 = convertJointCmdToAngles(l_vCurrentJointPosition[2]);
_currentGripperAngle = convertJointCmdToAngles(l_vCurrentJointPosition[3]);*/
}
// publish the joints message to the joint_position topic
_jointPositionPublisher.publish(jointPositionMsg);
// publish the joints message to the joint_position topic
_gripperPositionPublisher.publish(gripperPositionMsg);
// 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();
}
_oDxlHandler.enableTorque(false);
_oDxlHandler.closePort();
return 0;
}

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#include "DynamixelHandler.h"
DynamixelHandler::DynamixelHandler():
m_sDeviceName(""), m_fProtocolVersion(0.0), m_i32BaudRate(0),
m_pPacketHandler(nullptr), m_pPortHandler(nullptr),
m_bIsDeviceNameSet(false), m_bIsProtocolVersionSet(false), m_bIsPortOpened(false), m_bIsBaudRateSet(false),
m_ui8DxlError(0), m_i32DxlCommunicationResult(COMM_TX_FAIL)
{
}
DynamixelHandler::~DynamixelHandler()
{
}
bool DynamixelHandler::openPort()
{
if (m_pPortHandler == nullptr)
{
std::cout << "[ERROR](DynamixelHandler::openPort) m_pPortHandler is null!" << std::endl;
m_bIsPortOpened = false;
return m_bIsPortOpened;
}
if (!m_bIsDeviceNameSet)
{
std::cout << "[ERROR](DynamixelHandler::openPort) m_sDeviceName is not set!" << std::endl;
m_bIsPortOpened = false;
return m_bIsPortOpened;
}
if (m_bIsPortOpened)
{
std::cout << "[WARNING](DynamixelHandler::openPort) port is already opened!" << std::endl;
return m_bIsPortOpened;
}
if (m_pPortHandler->openPort())
{
std::cout << "[INFO](DynamixelHandler::openPort) Succeeded to open the port!" << std::endl;
m_bIsPortOpened = true;
}
else
{
std::cout << "[ERROR](DynamixelHandler::openPort) Failed to open the port!" << std::endl;
m_bIsPortOpened = false;
}
return m_bIsPortOpened;
}
void DynamixelHandler::closePort()
{
if (m_pPortHandler == nullptr)
{
std::cout << "[ERROR](DynamixelHandler::closePort) m_pPortHandler is null!" << std::endl;
m_bIsPortOpened = false;
return;
}
if (!m_bIsPortOpened)
{
std::cout << "[WARNING](DynamixelHandler::openPort) port is already closed!" << std::endl;
return;
}
m_pPortHandler->closePort();
std::cout << "[INFO](DynamixelHandler::closePort) Succeeded to close the port!" << std::endl;
m_bIsPortOpened = false;
}
bool DynamixelHandler::setBaudRate(int i32BaudRate)
{
m_i32BaudRate = i32BaudRate;
if (nullptr != m_pPortHandler)
{
if (m_pPortHandler->setBaudRate(m_i32BaudRate))
{
std::cout << "[INFO](DynamixelHandler::setBaudRate) Succeeded to change the baudrate!" << std::endl;
m_bIsBaudRateSet = true;
}
else
{
std::cout << "[ERROR](DynamixelHandler::setBaudRate) Failed to change the baudrate!" << std::endl;
m_bIsBaudRateSet = false;
}
}
else
{
std::cout << "[ERROR](DynamixelHandler::setBaudRate) m_pPortHandler is null!" << std::endl;
m_bIsBaudRateSet = false;
}
return m_bIsBaudRateSet;
}
void DynamixelHandler::setDeviceName(std::string sDeviceName)
{
m_sDeviceName = sDeviceName;
m_bIsDeviceNameSet = true;
if (nullptr != m_pPortHandler)
{
delete m_pPortHandler;
m_pPortHandler = nullptr;
}
// Initialize PortHandler instance
m_pPortHandler = dynamixel::PortHandler::getPortHandler(m_sDeviceName.c_str());
}
void DynamixelHandler::setProtocolVersion(float fProtocolVersion)
{
m_fProtocolVersion = fProtocolVersion;
m_bIsProtocolVersionSet = true;
if (nullptr != m_pPacketHandler)
{
delete m_pPacketHandler;
m_pPacketHandler = nullptr;
}
m_pPacketHandler = dynamixel::PacketHandler::getPacketHandler(m_fProtocolVersion);
}
bool DynamixelHandler::readCurrentJointPosition(std::vector<uint16_t>& vCurrentJointPosition)
{
bool bIsReadSuccessfull = false;
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
{
int dxl_comm_result = COMM_TX_FAIL; // Communication result
uint8_t dxl_error = 0;
uint16_t dxl_present_position = 0;
dxl_comm_result = m_pPacketHandler->read2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_PRESENT_POSITION, &dxl_present_position, &dxl_error);
if (dxl_comm_result != COMM_SUCCESS)
{
//std::cout << "[ERROR] " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
bIsReadSuccessfull = false;
}
else if (dxl_error != 0)
{
//std::cout << "[ERROR] " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
bIsReadSuccessfull = false;
}
else
{
vCurrentJointPosition.push_back(dxl_present_position);
bIsReadSuccessfull = true;
}
}
return bIsReadSuccessfull;
}
bool DynamixelHandler::readCurrentJointTorque(std::vector<uint16_t>& vCurrentJointTorque)
{
bool bIsReadSuccessfull = false;
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
{
int dxl_comm_result = COMM_TX_FAIL; // Communication result
uint8_t dxl_error = 0;
uint16_t dxl_present_torque = 0;
dxl_comm_result = m_pPacketHandler->read2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_PRESENT_LOAD, &dxl_present_torque, &dxl_error);
if (dxl_comm_result != COMM_SUCCESS)
{
//std::cout << "[ERROR] " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
bIsReadSuccessfull = false;
}
else if (dxl_error != 0)
{
//std::cout << "[ERROR] " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
bIsReadSuccessfull = false;
}
else
{
vCurrentJointTorque.push_back(dxl_present_torque);
bIsReadSuccessfull = true;
}
}
return bIsReadSuccessfull;
}
bool DynamixelHandler::sendTargetJointPosition(std::vector<uint16_t>& vTargetJointPosition)
{
bool bIsSendSuccessfull = false;
// checks if the vector size is correct
if (vTargetJointPosition.size() != NB_JOINTS)
{
std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): Size of command vector is not correct: " << vTargetJointPosition.size() << " instead of " << NB_JOINTS << "!" << std::endl;
bIsSendSuccessfull = false;
}
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
{
int dxl_comm_result = COMM_TX_FAIL; // Communication result
uint8_t dxl_error = 0;
uint16_t dxl_present_position = 0;
dxl_comm_result = m_pPacketHandler->write2ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_GOAL_POSITION, vTargetJointPosition[l_joint], &dxl_error);
if (dxl_comm_result != COMM_SUCCESS)
{
//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
bIsSendSuccessfull = false;
}
else if (dxl_error != 0)
{
//std::cout << "[ERROR] (DynamixelHandler::sendTargetJointPosition): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
bIsSendSuccessfull = false;
}
else
{
bIsSendSuccessfull = true;
}
}
return bIsSendSuccessfull;
}
bool DynamixelHandler::enableTorque(bool bEnableTorque)
{
bool bIsSendSuccessfull = false;
for (unsigned int l_joint = 0; l_joint < NB_JOINTS; l_joint++)
{
int dxl_comm_result = COMM_TX_FAIL; // Communication result
uint8_t dxl_error = 0;
dxl_comm_result = m_pPacketHandler->write1ByteTxRx(m_pPortHandler, l_joint + 1, ADDR_XL320_TORQUE_ENABLE, bEnableTorque, &dxl_error);
if (dxl_comm_result != COMM_SUCCESS)
{
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getTxRxResult(dxl_comm_result) << std::endl;
bIsSendSuccessfull = false;
}
else if (dxl_error != 0)
{
//std::cout << "[ERROR] (DynamixelHandler::enableTorque): " << m_pPacketHandler->getRxPacketError(dxl_error) << std::endl;
bIsSendSuccessfull = false;
}
else
{
bIsSendSuccessfull = true;
}
}
return bIsSendSuccessfull;
}