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[Spinal][Dynamixel] create a interface to control dynamixel with Spinal #594

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[Spinal][Dynamixel] create a interface to control dynamixel with Spinal #594

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05fd4ca
[Spinal][Dynamixel] transplanted dynamixel interface to spinal
sugihara-16 Mar 1, 2024
af3f910
[Spinal][Encoder] modified encorder interface imitating neuron one
sugihara-16 Mar 1, 2024
e3094c5
[Spinal] change usart3 bardrate as 1Mbps
sugihara-16 Mar 1, 2024
3c8cad0
[Spinal][Servo][WIP] create a new universal interface to control servos
sugihara-16 Mar 1, 2024
fc6d98c
[Spinal][Servo] fix complile erors in servo interface (stil not work)
sugihara-16 Mar 2, 2024
d1b0d79
[Spinal][Servo] add implimentation to call servo interface from main.cpp
sugihara-16 Mar 2, 2024
8bec34e
[Spinal][Servo][WIP] modifed some details and add MPU setting
sugihara-16 Mar 2, 2024
7e33926
[Spinal][Servo] add new task to treat servos directly
sugihara-16 Mar 4, 2024
2521f92
[Spinal][Servo] change servo flag name
sugihara-16 Mar 4, 2024
91d1380
[Spinal][Servo][WIP] workaround send command to dynamixel
sugihara-16 Mar 4, 2024
756c41a
[Spinal][Servo] create a new service to set configuration of direct c…
sugihara-16 Mar 5, 2024
a499730
[Spinal][Servo] workaround to set configuration of direct servos to f…
sugihara-16 Mar 5, 2024
bfcabad
[Spinal][Servo] add interface to set target angle directly
sugihara-16 Mar 5, 2024
0adcf56
[Spinal][Servo] fix some bugs
sugihara-16 Mar 6, 2024
2835e21
[Spinal][Servo] change the priority of servotask from idle to realtime
sugihara-16 Mar 7, 2024
4afb83a
[Spinal][Servo] fixed bug in a function of toruqe enabling
sugihara-16 Mar 7, 2024
a6d1bfa
[Spinal][Dynamixel] limit the situation in which offset and torque pa…
sugihara-16 May 12, 2024
0f0cc83
[Spinal][Dynamixel] modified maximum servo number from 4 to 8.
sugihara-16 May 13, 2024
7c147cb
[Spinal][servo] Create README for servo interface
sugihara-16 May 13, 2024
ae4e197
[Spinal][Servo] resize the servo message as same as maximum servo num.
sugihara-16 May 15, 2024
2fb5a3a
[ServoBridge] workaroud to use servo profiles in spinal firmware.
sugihara-16 May 19, 2024
8541587
[Spinal][Servo] use servo index to indentify servo
sugihara-16 Jun 3, 2024
d787196
[Spinal][Servo] workaround to use rqt to monitor and setup direct ser…
sugihara-16 Jun 4, 2024
77dfc1a
[Spinal][Servo] debug around reading servo from rqt
Jun 4, 2024
d4567ec
Merge pull request #6 from koutarou-kaneko/PR/Spinal/dynamixel
sugihara-16 Jun 5, 2024
f14dc52
[Spinal][Servo] debug around boad configurator
Jun 7, 2024
70b11db
Merge pull request #7 from HisaakiIida/PR/Spinal/dynamixel
sugihara-16 Jun 7, 2024
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5 changes: 5 additions & 0 deletions aerial_robot_model/include/aerial_robot_model/servo_bridge.h
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Expand Up @@ -50,6 +50,8 @@
#include <spinal/ServoStates.h>
#include <spinal/ServoControlCmd.h>
#include <spinal/ServoTorqueCmd.h>
#include <spinal/JointProfiles.h>
#include <spinal/UavInfo.h>
#include <controller_manager_msgs/LoadController.h>
#include <controller_manager_msgs/SwitchController.h>
#include <urdf/model.h>
Expand Down Expand Up @@ -200,6 +202,8 @@ class ServoBridge

ros::Publisher servo_states_pub_;
ros::Publisher mujoco_control_input_pub_;
ros::Publisher joint_profile_pub_;
ros::Subscriber uav_info_sub_;
map<string, ros::Subscriber> servo_states_subs_;
map<string, ros::Subscriber> servo_ctrl_subs_;
map<string, bool> no_real_state_flags_;
Expand All @@ -219,6 +223,7 @@ class ServoBridge
void servoStatesCallback(const spinal::ServoStatesConstPtr& state_msg, const std::string& servo_group_name);
void servoCtrlCallback(const sensor_msgs::JointStateConstPtr& joints_ctrl_msg, const std::string& servo_group_name);
bool servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name);
void uavInfoCallback(const spinal::UavInfoConstPtr& uav_msg);

public:
ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp);
Expand Down
35 changes: 33 additions & 2 deletions aerial_robot_model/src/servo_bridge/servo_bridge.cpp
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Expand Up @@ -73,12 +73,16 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_(
mujoco_control_input_pub_ = nh_.advertise<sensor_msgs::JointState>("mujoco/ctrl_input", 1);
/* common publisher: torque on/off command */
servo_torque_ctrl_pubs_.insert(make_pair("common", nh_.advertise<spinal::ServoTorqueCmd>(torque_pub_topic, 1)));
/* common publisher: joint profiles */
joint_profile_pub_ = nh_.advertise<spinal::JointProfiles>("joint_profiles",1);
/* subscriber: uav info */
uav_info_sub_ = nh_.subscribe<spinal::UavInfo>("uav_info", 1, &ServoBridge::uavInfoCallback, this);


/* get additional config for servos from ros parameters */
XmlRpc::XmlRpcValue all_servos_params;
nh_.getParam("servo_controller", all_servos_params);

spinal::JointProfiles joint_profiles_msg;
for(auto servo_group_params: all_servos_params)
{
if (servo_group_params.second.getType() != XmlRpc::XmlRpcValue::TypeStruct)
Expand Down Expand Up @@ -126,7 +130,8 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_(
double lower_limit = urdf_model.getJoint(servo_params.second["name"])->limits->lower;

/* get parameters from rosparam */
int angle_sgn = servo_params.second.hasMember("angle_sgn")?
int servo_id = servo_params.second["id"];
int angle_sgn = servo_params.second.hasMember("angle_sgn")?
servo_params.second["angle_sgn"]:servo_group_params.second["angle_sgn"];
int zero_point_offset = servo_params.second.hasMember("zero_point_offset")?
servo_params.second["zero_point_offset"]:servo_group_params.second["zero_point_offset"];
Expand Down Expand Up @@ -391,3 +396,29 @@ bool ServoBridge::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_s
return true;
}

void ServoBridge::uavInfoCallback(const spinal::UavInfoConstPtr& uav_msg)
{
/* Send servo profiles to Spinal*/
spinal::JointProfiles joint_profiles_msg;
for(auto servo_group : servos_handler_){
for(auto servo : servo_group.second){
spinal::JointProfile joint_profile;
if(servo_group.first == "joints"){
joint_profile.type = spinal::JointProfile::JOINT;
}
else if(servo_group.first == "gimbals"){
joint_profile.type = spinal::JointProfile::GIMBAL;
}
else{
ROS_ERROR("Invalid servo type. Please define 'joints' or 'gimbals'.");
continue;
}
joint_profile.servo_id = servo->getId();
joint_profile.angle_sgn = servo->getAngleSgn();
joint_profile.angle_scale = servo->getAngleScale();
joint_profile.zero_point_offset = servo->getZeroPointOffset();
joint_profiles_msg.joints.push_back(joint_profile);
}
}
joint_profile_pub_.publish(joint_profiles_msg);
}
3 changes: 3 additions & 0 deletions aerial_robot_nerve/spinal/CMakeLists.txt
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Expand Up @@ -43,6 +43,8 @@ add_message_files(
FlightConfigCmd.msg
Vector3Int16.msg
TorqueAllocationMatrixInv.msg
JointProfile.msg
JointProfiles.msg
)

add_service_files(
Expand All @@ -52,6 +54,7 @@ add_service_files(
SetAttitudeGains.srv
ImuCalib.srv
MagDeclination.srv
SetDirectServoConfig.srv
)

generate_messages(
Expand Down
2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h
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Expand Up @@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
Expand Down
2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h
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Expand Up @@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
Expand Down
2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h
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Expand Up @@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
Expand Down
4 changes: 2 additions & 2 deletions aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
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Expand Up @@ -25,7 +25,7 @@
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<builder buildPath="${workspace_loc:/spinal}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.530361035" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
Expand Down Expand Up @@ -209,7 +209,7 @@
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<builder buildPath="${workspace_loc:/spinal}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.843691260" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
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Expand Down
5 changes: 5 additions & 0 deletions aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project
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Expand Up @@ -67,6 +67,11 @@
<type>1</type>
<locationURI>PARENT-1-PROJECT_LOC/Src/lwip.c</locationURI>
</link>
<link>
<name>Application/User/main.c</name>
<type>1</type>
<locationURI>PARENT-1-PROJECT_LOC/Src/main.c</locationURI>
</link>
<link>
<name>Application/User/main.cpp</name>
<type>1</type>
Expand Down
2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c
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Expand Up @@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
Expand Down
2 changes: 1 addition & 1 deletion aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c
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Expand Up @@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
* <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
Expand Down
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