From b3daefe3afe1a448e1fa6b5950e8138bb7f07c0e Mon Sep 17 00:00:00 2001 From: Mykolas Juraitis <75975027+mykolasjuraitis@users.noreply.github.com> Date: Thu, 1 Jul 2021 12:56:47 +0000 Subject: [PATCH 1/3] SRC-4962 Add command effor type --- .../include/ros_ethercat_model/command.hpp | 50 +++++++++++++++++++ .../ros_ethercat_model/hardware_interface.hpp | 13 ++++- .../include/ros_ethercat_model/joint.hpp | 14 +++++- 3 files changed, 74 insertions(+), 3 deletions(-) create mode 100644 ros_ethercat_model/include/ros_ethercat_model/command.hpp diff --git a/ros_ethercat_model/include/ros_ethercat_model/command.hpp b/ros_ethercat_model/include/ros_ethercat_model/command.hpp new file mode 100644 index 0000000..aac0c42 --- /dev/null +++ b/ros_ethercat_model/include/ros_ethercat_model/command.hpp @@ -0,0 +1,50 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2021, Shadow Robot Company Ltd. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef ROS_ETHERCAT_MODEL_COMMAND_H +#define ROS_ETHERCAT_MODEL_COMMAND_H + +namespace ros_ethercat_model +{ + +enum class EffortCommandType +{ + UNSPECIFIED, + TORQUE, + PWM +}; + +} // ros_ethercat_model + +#endif // ROS_ETHERCAT_MODEL_COMMAND_H diff --git a/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp b/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp index ce28294..1a8ebeb 100644 --- a/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp +++ b/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp @@ -40,6 +40,7 @@ #include +#include "ros_ethercat_model/command.hpp" namespace ros_ethercat_model { @@ -95,12 +96,20 @@ class ActuatorCommand public: ActuatorCommand() : enable_(0), - effort_(0) + effort_(0), + effort_command_type_(EffortCommandType::UNSPECIFIED) { } bool enable_; //!< Enable this actuator - double effort_; //!< Force to apply (in Nm) + double effort_; //!< Effor to apply, unit depends on effort_command_type_ field + EffortCommandType effort_command_type_; //!< Type of effort in effort_ field + + void set_effort_command(double effort, EffortCommandType effort_command_type) + { + effort_ = effort; + effort_command_type_ = effort_command_type; + } }; /*! diff --git a/ros_ethercat_model/include/ros_ethercat_model/joint.hpp b/ros_ethercat_model/include/ros_ethercat_model/joint.hpp index da5aac3..352bf55 100644 --- a/ros_ethercat_model/include/ros_ethercat_model/joint.hpp +++ b/ros_ethercat_model/include/ros_ethercat_model/joint.hpp @@ -44,6 +44,8 @@ #include #include +#include "ros_ethercat_model/command.hpp" + namespace ros_ethercat_model { @@ -170,6 +172,9 @@ class JointState /// The position of the optical flag that was used to calibrate this joint double reference_position_; + /// Type of effort in commanded_effort_ field + EffortCommandType effort_command_type_; + /// Constructor JointState() : position_(0.0), @@ -178,8 +183,15 @@ class JointState commanded_position_(0.0), commanded_velocity_(0.0), commanded_effort_(0.0), - reference_position_(0.0) + reference_position_(0.0), + effort_command_type_(EffortCommandType::UNSPECIFIED) + { + } + + void set_effort_command(double commanded_effort, EffortCommandType effort_command_type) { + commanded_effort_ = commanded_effort; + effort_command_type_ = effort_command_type; } }; inline void JointStatistics::update(JointState *jnt) From f2580155d30cef468a6edaf7285f2477dbfbb332 Mon Sep 17 00:00:00 2001 From: Mykolas Juraitis <75975027+mykolasjuraitis@users.noreply.github.com> Date: Thu, 1 Jul 2021 13:27:35 +0000 Subject: [PATCH 2/3] Fix lint --- ros_ethercat_model/include/ros_ethercat_model/command.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros_ethercat_model/include/ros_ethercat_model/command.hpp b/ros_ethercat_model/include/ros_ethercat_model/command.hpp index aac0c42..518fa18 100644 --- a/ros_ethercat_model/include/ros_ethercat_model/command.hpp +++ b/ros_ethercat_model/include/ros_ethercat_model/command.hpp @@ -45,6 +45,6 @@ enum class EffortCommandType PWM }; -} // ros_ethercat_model +} // namespace ros_ethercat_model #endif // ROS_ETHERCAT_MODEL_COMMAND_H From fa9de9e929c50a35484106d74a707e081cd06e32 Mon Sep 17 00:00:00 2001 From: Mykolas Juraitis <75975027+mykolasjuraitis@users.noreply.github.com> Date: Thu, 1 Jul 2021 14:04:25 +0000 Subject: [PATCH 3/3] Fix typo --- .../include/ros_ethercat_model/hardware_interface.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp b/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp index 1a8ebeb..35e69bd 100644 --- a/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp +++ b/ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp @@ -102,7 +102,7 @@ class ActuatorCommand } bool enable_; //!< Enable this actuator - double effort_; //!< Effor to apply, unit depends on effort_command_type_ field + double effort_; //!< Effort to apply, unit depends on effort_command_type_ field EffortCommandType effort_command_type_; //!< Type of effort in effort_ field void set_effort_command(double effort, EffortCommandType effort_command_type)