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Add return_delay_time parameter to urdf #105

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Add return_delay_time parameter to urdf #105

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5 changes: 4 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,8 @@ $ . install/setup.bash

### Configure Dynamixel motor parameters

Update the `usb_port`, `baud_rate`, and `joint_ids` parameters on [`open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro`](https://github.com/youtalk/dynamixel_control/blob/main/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro#L9-L12) to correctly communicate with Dynamixel motors.
Update the `usb_port`, `baud_rate`, `return_delay_time` and `joint_ids` parameters on [`open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro`](https://github.com/youtalk/dynamixel_control/blob/main/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro#L9-L12) to correctly communicate with Dynamixel motors.
The `return_delay_time` sets the amount of delay in microseconds before they respond to a packet.
The `use_dummy` parameter is required if you don't have a real OpenManipulator-X.

Note that `joint_ids` parameters must be splited by `,`.
Expand All @@ -35,6 +36,7 @@ Note that `joint_ids` parameters must be splited by `,`.
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="return_delay_time">10</param>
<!-- <param name="use_dummy">true</param> -->
</hardware>
```
Expand Down Expand Up @@ -86,6 +88,7 @@ index c6cdb74..111846d 100644
@@ -9,7 +9,7 @@
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="return_delay_time">250</param>
- <!-- <param name="use_dummy">true</param> -->
+ <param name="use_dummy">true</param>
</hardware>
Expand Down
13 changes: 13 additions & 0 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
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Expand Up @@ -38,6 +38,7 @@ constexpr const char * kPresentVelocityItem = "Present_Velocity";
constexpr const char * kPresentSpeedItem = "Present_Speed";
constexpr const char * kPresentCurrentItem = "Present_Current";
constexpr const char * kPresentLoadItem = "Present_Load";
constexpr const char * kReturnDelayTimeItem = "Return_Delay_Time";
constexpr const char * const kExtraJointParameters[] = {
"Profile_Velocity",
"Profile_Acceleration",
Expand Down Expand Up @@ -83,10 +84,12 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo

auto usb_port = info_.hardware_parameters.at("usb_port");
auto baud_rate = std::stoi(info_.hardware_parameters.at("baud_rate"));
auto return_delay_time = std::stoi(info_.hardware_parameters.at("return_delay_time"));
const char * log = nullptr;

RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "usb_port: %s", usb_port.c_str());
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "baud_rate: %d", baud_rate);
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "return_delay_time: %d", return_delay_time);

if (!dynamixel_workbench_.init(usb_port.c_str(), baud_rate, &log)) {
RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
Expand All @@ -99,6 +102,16 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
return CallbackReturn::ERROR;
}
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Ping successful for ID %d, Model number: %d", joint_ids_[i], model_number);
int32_t current_return_delay_time = 0;
if (dynamixel_workbench_.itemRead(joint_ids_[i], kReturnDelayTimeItem, &current_return_delay_time, &log) && current_return_delay_time != return_delay_time)
{
if (!dynamixel_workbench_.itemWrite(joint_ids_[i], kReturnDelayTimeItem, return_delay_time, &log)) {
RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
return CallbackReturn::ERROR;
}
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Successfully set return delay time for ID %d from %d to %d.", joint_ids_[i], current_return_delay_time, return_delay_time);
}
}

enable_torque(false);
Expand Down
1 change: 1 addition & 0 deletions open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
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Expand Up @@ -8,6 +8,7 @@
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="return_delay_time">250</param>
<!-- <param name="use_dummy">true</param> -->
</hardware>
<joint name="joint1">
Expand Down
1 change: 1 addition & 0 deletions pantilt_bot_description/urdf/pantilt_bot.ros2_control.xacro
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Expand Up @@ -8,6 +8,7 @@
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="return_delay_time">250</param>
<!-- <param name="use_dummy">true</param> -->
</hardware>
<joint name="joint1">
Expand Down