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Add gear_ratio parameter #95

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Add gear_ratio parameter #95

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1 change: 1 addition & 0 deletions dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ struct Joint
JointValue state{};
JointValue command{};
JointValue prev_command{};
double gear_ratio{1.0};
};

enum class ControlMode
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16 changes: 11 additions & 5 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,10 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
joints_[i].prev_command.position = joints_[i].command.position;
joints_[i].prev_command.velocity = joints_[i].command.velocity;
joints_[i].prev_command.effort = joints_[i].command.effort;
joints_[i].gear_ratio = 1.0;
if(info_.joints[i].parameters.find("gear_ratio") != info_.joints[i].parameters.end()) {
joints_[i].gear_ratio = std::stod(info_.joints[i].parameters.at("gear_ratio"));
}
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "joint_id %d: %d", i, joint_ids_[i]);
}

Expand Down Expand Up @@ -286,9 +290,11 @@ return_type DynamixelHardware::read(
}

for (uint i = 0; i < ids.size(); i++) {
joints_[i].state.position = dynamixel_workbench_.convertValue2Radian(ids[i], positions[i]);
joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]);
joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]);
joints_[i].state.position = dynamixel_workbench_.convertValue2Radian(ids[i], positions[i]) /
joints_[i].gear_ratio;
joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]) /
joints_[i].gear_ratio;
joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]) * joints_[i].gear_ratio;
}

return return_type::OK;
Expand Down Expand Up @@ -473,7 +479,7 @@ CallbackReturn DynamixelHardware::set_joint_positions()
for (uint i = 0; i < ids.size(); i++) {
joints_[i].prev_command.position = joints_[i].command.position;
commands[i] = dynamixel_workbench_.convertRadian2Value(
ids[i], static_cast<float>(joints_[i].command.position));
ids[i], static_cast<float>(joints_[i].command.position * joints_[i].gear_ratio));
}
if (!dynamixel_workbench_.syncWrite(
kGoalPositionIndex, ids.data(), ids.size(), commands.data(), 1, &log))
Expand All @@ -493,7 +499,7 @@ CallbackReturn DynamixelHardware::set_joint_velocities()
for (uint i = 0; i < ids.size(); i++) {
joints_[i].prev_command.velocity = joints_[i].command.velocity;
commands[i] = dynamixel_workbench_.convertVelocity2Value(
ids[i], static_cast<float>(joints_[i].command.velocity));
ids[i], static_cast<float>(joints_[i].command.velocity * joints_[i].gear_ratio));
}
if (!dynamixel_workbench_.syncWrite(
kGoalVelocityIndex, ids.data(), ids.size(), commands.data(), 1, &log))
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