8 #include <linux/i2c-dev.h>
9 #include <hardware_interface/joint_command_interface.h>
10 #include <hardware_interface/joint_state_interface.h>
11 #include <hardware_interface/robot_hw.h>
12 #include "std_srvs/SetBool.h"
14 #define I2C_FILE "/dev/i2c-2"
15 #define I2C_ADDR (0x60>>1)
16 #define XM_OPERATING_MODE 11
17 #define XM_TORQUE_ENABLE 64
18 #define XM_GOAL_CURRENT 102
19 #define XM_PROFILE_ACCELERATION 108
20 #define XM_PROFILE_VELOCITY 112
21 #define XM_GOAL_POSITION 116
22 #define XM_PRESENT_POSITION 132
23 #define XM_PRESENT_CURRENT 126
24 #define XM_PRESENT_VELOCITY 128
26 #define STEPS_TO_RADIAN (2*M_PI/4096)
27 #define GRIPPER_RADIAN_TO_METER -0.015
28 #define VELOCITY_STEPS_TO_RADS (0.229*2*M_PI/60)
30 class WtOpenManipulatorI2C : public hardware_interface::RobotHW
33 WtOpenManipulatorI2C(ros::NodeHandle nh) {
36 torque_enable_service = nh.advertiseService("torque_enable", &WtOpenManipulatorI2C::cbTorqueEnable, this);
38 // connect and register the joint state interface
39 hardware_interface::JointStateHandle state_handle_1("joint1", &pos[0], &vel[0], &eff[0]);
40 jnt_state_interface.registerHandle(state_handle_1);
41 hardware_interface::JointStateHandle state_handle_2("joint2", &pos[1], &vel[1], &eff[1]);
42 jnt_state_interface.registerHandle(state_handle_2);
43 hardware_interface::JointStateHandle state_handle_3("joint3", &pos[2], &vel[2], &eff[2]);
44 jnt_state_interface.registerHandle(state_handle_3);
45 hardware_interface::JointStateHandle state_handle_4("joint4", &pos[3], &vel[3], &eff[3]);
46 jnt_state_interface.registerHandle(state_handle_4);
47 hardware_interface::JointStateHandle state_handle_gripper("gripper", &pos[4], &vel[4], &eff[4]);
48 jnt_state_interface.registerHandle(state_handle_gripper);
49 registerInterface(&jnt_state_interface);
51 // connect and register the joint position interface
52 hardware_interface::JointHandle pos_handle_1(state_handle_1, &cmd[0]);
53 jnt_pos_interface.registerHandle(pos_handle_1);
54 hardware_interface::JointHandle pos_handle_2(state_handle_2, &cmd[1]);
55 jnt_pos_interface.registerHandle(pos_handle_2);
56 hardware_interface::JointHandle pos_handle_3(state_handle_3, &cmd[2]);
57 jnt_pos_interface.registerHandle(pos_handle_3);
58 hardware_interface::JointHandle pos_handle_4(state_handle_4, &cmd[3]);
59 jnt_pos_interface.registerHandle(pos_handle_4);
60 hardware_interface::JointHandle pos_handle_gripper(state_handle_gripper, &cmd[4]);
61 jnt_pos_interface.registerHandle(pos_handle_gripper);
62 registerInterface(&jnt_pos_interface);
65 if (dynamixel_writeword(15, XM_GOAL_CURRENT, 200) != 1) {
66 ROS_ERROR("I2C dynamixel id=15 write goal current error");
69 if (dynamixel_readbyte(15, XM_OPERATING_MODE, &mode) != 1) {
70 ROS_ERROR("I2C dynamixel id=15 read operating Mode error");
74 if (!torque_enable(false)) {
77 if (dynamixel_writebyte(15, XM_OPERATING_MODE, 5) != 1) { // Current-based Position Control Mode
78 ROS_ERROR("I2C dynamixel id=15 write operating Mode error");
82 if (dynamixel_writedword(15, XM_PROFILE_ACCELERATION, 20) != 1) {
83 ROS_ERROR("I2C dynamixel id=15 write profile Acceleration error");
86 if (dynamixel_writedword(15, XM_PROFILE_VELOCITY, 200) != 1) {
87 ROS_ERROR("I2C dynamixel id=15 write profile Velocity error");
90 if (!torque_enable(true)) {
95 // Converts pos_encoder from wheels to wheel angles
96 void read(ros::Duration period) {
99 auto t1 = std::chrono::high_resolution_clock::now();
102 for(int i=0, id=11; id<=14; id++, i++) {
103 if (dynamixel_readdword(id, XM_PRESENT_POSITION, &value) == 1) {
104 pos[i] = STEPS_TO_RADIAN*(value-2048);
106 ROS_ERROR("I2C dynamixel id=%d position read error", id);
109 if (dynamixel_readdword(id, XM_PRESENT_VELOCITY, &value) == 1) {
110 vel[i] = value*VELOCITY_STEPS_TO_RADS;
112 ROS_ERROR("I2C dynamixel id=%d velocity read error", id);
116 if (dynamixel_readword(id, XM_PRESENT_CURRENT, ¤t) == 1) {
117 eff[i] = current*2.69e-3;
119 ROS_ERROR("I2C dynamixel id=%d current read error", id);
125 if (dynamixel_readdword(15, XM_PRESENT_POSITION, &value) == 1) {
126 pos[4] = STEPS_TO_RADIAN*(value-2048)*GRIPPER_RADIAN_TO_METER;
128 ROS_ERROR("I2C dynamixel id=15 position read error");
130 if (dynamixel_readdword(15, XM_PRESENT_VELOCITY, &value) == 1) {
131 vel[4] = value*VELOCITY_STEPS_TO_RADS*GRIPPER_RADIAN_TO_METER;
133 ROS_ERROR("I2C dynamixel id=15 velocity read error");
136 if (dynamixel_readword(15, XM_PRESENT_CURRENT, ¤t) == 1) {
137 eff[4] = current*2.69e-3;
139 ROS_ERROR("I2C dynamixel id=15 current read error");
143 ROS_DEBUG("pos: %.2f %.2f %.2f %.2f %.2f", pos[0]*180/M_PI, pos[1]*180/M_PI, pos[2]*180/M_PI, pos[3]*180/M_PI, pos[4]);
144 ROS_DEBUG("velocity: %.2f %.2f %.2f %.2f %.2f", vel[0]*30/M_PI, vel[1]*30/M_PI, vel[2]*30/M_PI, vel[3]*30/M_PI, vel[4]);
146 ROS_DEBUG("current: %.2f %.2f %.2f %.2f %.2f", eff[0], eff[1], eff[2], eff[3], eff[4]);
148 auto t2 = std::chrono::high_resolution_clock::now();
149 int64_t duration = std::chrono::duration_cast<std::chrono::milliseconds>( t2 - t1 ).count();
150 ROS_DEBUG("read duration: %lldms", duration);
153 // Writes current velocity command to hardware
157 if (memcmp(cmd, cmd_pre, sizeof(cmd)) != 0) { // Only write new position when changed
158 ROS_DEBUG("cmd: %.2f %.2f %.2f %.2f %.2f", cmd[0]*180/M_PI, cmd[1]*180/M_PI, cmd[2]*180/M_PI, cmd[3]*180/M_PI, cmd[4]);
161 for(int i=0, id=11; id<=14; id++, i++) {
163 ROS_WARN("Desired angle for id=%d is NaN, skipping write.", id);
167 value = cmd[i]/STEPS_TO_RADIAN + 2048;
169 if (dynamixel_writedword(id, XM_GOAL_POSITION, value) == 1) {
172 ROS_ERROR("I2C dynamixel id=%d write error", id);
177 if (isnan(cmd[4]) || cmd[4] < -0.010 || cmd[4] > 0.010) {
178 ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write.");
180 value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048;
181 if (dynamixel_writedword(15, XM_GOAL_POSITION, value) == 1) {
184 ROS_ERROR("I2C dynamixel id=15 write error");
190 bool torque_enable(bool enable) {
192 for(int id=11; id<=15; id++) {
193 if (dynamixel_writebyte(id, XM_TORQUE_ENABLE, enable) != 1) {
194 ROS_ERROR("I2C dynamixel id=%d torque change", id);
202 hardware_interface::JointStateInterface jnt_state_interface;
203 hardware_interface::PositionJointInterface jnt_pos_interface;
205 double cmd[5] = {NAN, NAN, NAN, NAN, NAN};
206 double cmd_pre[5] = {NAN, NAN, NAN, NAN, NAN}; // determine if cmd changed
207 double pos[5] = {0, 0, 0, 0, 0};
208 double vel[5] = {0, 0, 0, 0, 0};
209 double eff[5] = {0, 0, 0, 0, 0};
210 ros::ServiceServer torque_enable_service;
211 std::mutex comm_mutex;
213 int dynamixel_write(uint8_t *write_data, int write_num, uint8_t *read_data, int read_num) {
216 uint8_t read_buf[read_num+1]; // for unknown reason need to read one more byte with USI Slave
219 if ((file = open(I2C_FILE, O_RDWR)) < 0) {
224 if (ioctl(file, I2C_SLAVE, I2C_ADDR) < 0) {
229 if ((ret = ::write(file, write_data, write_num)) != write_num) {
234 // wait at least the half duplex transmission time, assume 29 (=14+15) bytes send/received: 1/(115200.0/10/29) <= 2.6ms
237 if ((ret = ::read(file, read_buf, read_num+1)) != read_num+1) {
241 ret--; // remove extra byte
242 memcpy(read_data, read_buf, ret);
251 uint8_t dynamixel_writebyte(uint8_t id, uint8_t cmd, uint8_t value) {
252 uint8_t write_data[5] = {id, cmd, 1, value, CMD_EOF};
253 uint8_t read_data[2];
254 int ret = dynamixel_write(write_data, 5, read_data, 2);
255 if (ret == 2 && read_data[1] == id) {
261 uint8_t dynamixel_writeword(uint8_t id, uint8_t cmd, int16_t value) {
262 uint8_t write_data[6] = {id, cmd, 2, (uint8_t)(value>>8), (uint8_t)value, CMD_EOF};
263 uint8_t read_data[2];
264 int ret = dynamixel_write(write_data, 6, read_data, 2);
265 if (ret == 2 && read_data[1] == id) {
271 uint8_t dynamixel_writedword(uint8_t id, uint8_t cmd, int32_t value) {
272 uint8_t write_data[8] = {id, cmd, 4, (uint8_t)(value>>24), (uint8_t)(value>>16), (uint8_t)(value>>8), (uint8_t)value, CMD_EOF};
273 uint8_t read_data[2];
274 int ret = dynamixel_write(write_data, 8, read_data, 2);
275 if (ret == 2 && read_data[1] == id) {
281 uint8_t dynamixel_readbyte(uint8_t id, uint8_t cmd, uint8_t *value) {
282 uint8_t write_data[4] = {id, cmd, 0x11, CMD_EOF};
283 uint8_t read_data[3];
284 int ret = dynamixel_write(write_data, 4, read_data, 3);
285 if (ret == 3 && read_data[1] == id) {
286 *value = read_data[2];
292 uint8_t dynamixel_readword(uint8_t id, uint8_t cmd, int16_t *value) {
293 uint8_t write_data[4] = {id, cmd, 0x12, CMD_EOF};
294 uint8_t read_data[4];
295 int ret = dynamixel_write(write_data, 4, read_data, 4);
296 if (ret == 4 && read_data[1] == id) {
297 *value = (read_data[2]<<8) | read_data[3];
303 uint8_t dynamixel_readdword(uint8_t id, uint8_t cmd, int32_t *value) {
304 uint8_t write_data[4] = {id, cmd, 0x14, CMD_EOF};
305 uint8_t read_data[6];
306 int ret = dynamixel_write(write_data, 4, read_data, 6);
307 if (ret == 6 && read_data[1] == id) {
308 *value = (read_data[2]<<24) | (read_data[3]<<16) | (read_data[4]<<8) | read_data[5];
314 bool cbTorqueEnable(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
315 ROS_INFO("Setting torque enable=%d", req.data);
316 res.success = torque_enable(req.data);