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[ dynamixel_workbench_controllers] Controller bugfix #238

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[ dynamixel_workbench_controllers] Controller bugfix #238

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4c03ddf
dynamixel_workbench_controllers: [FixBug] remove incorrect loop about…
mmurooka May 2, 2019
7ac5dcc
dynamixel_workbench_controllers: [FixBug] use correct id for getPrese…
mmurooka May 2, 2019
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23 changes: 8 additions & 15 deletions dynamixel_workbench_controllers/src/dynamixel_workbench_controllers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,9 +288,9 @@ bool DynamixelController::getPresentPosition(std::vector<std::string> dxl_name)
{
WayPoint wp;
uint32_t read_position;
for (auto const& dxl:dynamixel_)
for (auto const id:id_array)
{
result = dxl_wb_->readRegister((uint8_t)dxl.second,
result = dxl_wb_->readRegister(id,
control_items_["Present_Position"]->address,
control_items_["Present_Position"]->data_length,
&read_position,
Expand All @@ -300,7 +300,7 @@ bool DynamixelController::getPresentPosition(std::vector<std::string> dxl_name)
ROS_ERROR("%s", log);
}

wp.position = dxl_wb_->convertValue2Radian((uint8_t)dxl.second, read_position);
wp.position = dxl_wb_->convertValue2Radian(id, read_position);
pre_goal_.push_back(wp);
}
}
Expand Down Expand Up @@ -581,7 +581,6 @@ void DynamixelController::writeCallback(const ros::TimerEvent&)
int32_t dynamixel_position[dynamixel_.size()];

static uint32_t point_cnt = 0;
static uint32_t position_cnt = 0;

for (auto const& joint:jnt_tra_msg_->joint_names)
{
Expand All @@ -600,19 +599,13 @@ void DynamixelController::writeCallback(const ros::TimerEvent&)
ROS_ERROR("%s", log);
}

position_cnt++;
if (position_cnt >= jnt_tra_msg_->points[point_cnt].positions.size())
point_cnt++;
if (point_cnt >= jnt_tra_msg_->points.size())
{
point_cnt++;
position_cnt = 0;
if (point_cnt >= jnt_tra_msg_->points.size())
{
is_moving_ = false;
point_cnt = 0;
position_cnt = 0;
is_moving_ = false;
point_cnt = 0;

ROS_INFO("Complete Execution");
}
ROS_INFO("Complete Execution");
}
}

Expand Down