Cleaned repository and checked to work with RS485

KITrobotics · Oct 18, 2018 · 4929951 · 4929951
1 parent 20a6af7
commit 4929951
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Showing 25 changed files with 23 additions and 1,132 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,6 @@ project(ati_force_torque)
 find_package(catkin REQUIRED COMPONENTS
   cmake_modules
   cob_generic_can
-  dynamic_reconfigure 
   gazebo_ros
   geometry_msgs
   iirob_filters
@@ -45,16 +44,6 @@ if (Cpp11CompilerFlag)
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 endif()
 
-generate_ros_parameter_files(
-    cfg/CoordinateSystemCalibration.params
-    cfg/CanConfiguration.params
-    cfg/RS485Configuration.params
-    cfg/FTSConfiguration.params
-    cfg/NodeConfiguration.params
-    cfg/PublishConfiguration.params
-    cfg/Calibration.params
-)
-
 add_service_files(
   FILES
   CalculateAverageMasurement.srv
@@ -89,7 +78,7 @@ include_directories(
   ${Eigen_INCLUDE_DIRS}
 )
 
-add_library(${PROJECT_NAME} common/src/ForceTorqueCtrl.cpp src/force_torque_sensor.cpp)
+add_library(${PROJECT_NAME} common/src/ForceTorqueCtrl.cpp)
 add_dependencies(${PROJECT_NAME}
   ${PROJECT_NAME}_gencfg  # For dynamic_reconfigure
   ${PROJECT_NAME}_generate_messages_cpp

diff --git a/cfg/Calibration.params b/cfg/Calibration.params
diff --git a/cfg/CanConfiguration.params b/cfg/CanConfiguration.params
diff --git a/cfg/CoordinateSystemCalibration.params b/cfg/CoordinateSystemCalibration.params
diff --git a/cfg/FTSConfiguration.params b/cfg/FTSConfiguration.params
diff --git a/cfg/NodeConfiguration.params b/cfg/NodeConfiguration.params
diff --git a/cfg/PublishConfiguration.params b/cfg/PublishConfiguration.params
diff --git a/cfg/RS485Configuration.params b/cfg/RS485Configuration.params
diff --git a/common/include/ati_force_torque/ati_force_torque_hw_can.h b/common/include/ati_force_torque/ati_force_torque_hw_can.h
@@ -60,8 +60,6 @@
 // Headers provided by other cob-packages
 #include <cob_generic_can/CanItf.h>
 
-#define DEBUG 0
-
 // opCodes for the ForceTorque Can Interface
 // set as Can Message ID
 #define READ_SG 0x0

diff --git a/common/include/ati_force_torque/ati_force_torque_hw_rs485.h b/common/include/ati_force_torque/ati_force_torque_hw_rs485.h
@@ -66,8 +66,6 @@
 
 #include <force_torque_sensor/force_torque_sensor_hw.h>
 
-#define DEBUG 1
-
 //Available Modbus Baudrates (As specified in 8.1):
 #define MODBUSBAUD_1250K		1250000
 #define MODBUSBAUD_115200	115200

diff --git a/common/src/ati_force_torque_hw_can.cpp b/common/src/ati_force_torque_hw_can.cpp
@@ -47,6 +47,7 @@
  * If not, see <http://www.gnu.org/licenses/>.
  *
  ****************************************************************/
+#define DEBUG 0
 
 // general includes
 #include <ati_force_torque/ati_force_torque_hw_can.h>

diff --git a/common/src/ati_force_torque_hw_rs485.cpp b/common/src/ati_force_torque_hw_rs485.cpp
@@ -48,6 +48,8 @@
  *
  ****************************************************************/
 
+#define DEBUG 1
+
 // general includes
 #include <ati_force_torque/ati_force_torque_hw_rs485.h>
 
@@ -775,7 +777,6 @@ bool ATIForceTorqueSensorHWRS485::StartStreaming()
 
 void ATIForceTorqueSensorHWRS485::ReadDataLoop()
 {
-	std::chrono::microseconds sleepTime = std::chrono::microseconds(100);
 	while (m_isStreaming)
 	{
 		if (ReadData())

diff --git a/config/can_ati.yaml b/config/can_ati.yaml
@@ -1,4 +1,4 @@
-CAN:
+HWComm:
     type: 1            # CAN_PEAK_USB
     path: /dev/pcan32
     baudrate: 0x04     # CANITFBAUD_250K

diff --git a/config/can_ati_config.yaml b/config/can_ati_config.yaml
@@ -1,4 +1,4 @@
-CAN:
+COMM:
     type: 1                 # CAN_PEAK_USB
     path: /dev/pcan32
     baudrate: 0x0           # CANITFBAUD_250K

diff --git a/config/rs485_ati.yaml b/config/rs485_ati.yaml
@@ -1,4 +1,4 @@
-CAN:
+HWComm:
     path: /dev/ttyUSB0
     baudrate: 1250000
 

diff --git a/config/sensor_configuration_rs485.yaml b/config/sensor_configuration_rs485.yaml
@@ -2,7 +2,7 @@ Node:
     sim: false
     sensor_hw: "ati_force_torque/ATIForceTorqueSensorHWRS485"
     ft_pub_freq: 200
-    ft_pull_freq: 800
+    ft_pull_freq: 7000
     sensor_frame: "fts_reference_link"
     transform_frame: "fts_base_link"
 

diff --git a/include/ati_force_torque/force_torque_sensor.h b/include/ati_force_torque/force_torque_sensor.h