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[dynamixel_workbench_controllers] Enable to torque off on shutdown #386

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[dynamixel_workbench_controllers] Enable to torque off on shutdown #386

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67a1631
Update README.md
ROBOTIS-Will Oct 6, 2022
44d11f6
[dynamixel_workbench_controllers] Enable to torque off on shutdown
pazeshun Oct 10, 2024
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5 changes: 5 additions & 0 deletions README.md
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Expand Up @@ -5,6 +5,11 @@
[![melodic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/melodic-devel)
[![noetic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/noetic-devel)

[![foxy-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/foxy-devel)
[![galactic-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/galactic-devel)
[![humble-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/humble-devel)
[![ROS2 Rolling Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/ros2-ci/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/ros2)

## ROBOTIS e-Manual for Dynamixel Workbench
- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)

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3 changes: 3 additions & 0 deletions ...nch_controllers/include/dynamixel_workbench_controllers/dynamixel_workbench_controllers.h
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Expand Up @@ -84,6 +84,7 @@ class DynamixelController
bool is_joint_state_topic_;
bool is_cmd_vel_topic_;
bool use_moveit_;
bool torque_off_on_shutdown_;

double wheel_separation_;
double wheel_radius_;
Expand Down Expand Up @@ -126,6 +127,8 @@ class DynamixelController
void trajectoryMsgCallback(const trajectory_msgs::JointTrajectory::ConstPtr &msg);
bool dynamixelCommandMsgCallback(dynamixel_workbench_msgs::DynamixelCommand::Request &req,
dynamixel_workbench_msgs::DynamixelCommand::Response &res);

void onShutdown(void);
};

#endif //DYNAMIXEL_WORKBENCH_CONTROLLERS_H
2 changes: 2 additions & 0 deletions dynamixel_workbench_controllers/launch/dynamixel_controllers.launch
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Expand Up @@ -6,6 +6,7 @@
<arg name="use_moveit" default="false"/>
<arg name="use_joint_state" default="true"/>
<arg name="use_cmd_vel" default="false"/>
<arg name="torque_off_on_shutdown" default="false"/>

<param name="dynamixel_info" value="$(find dynamixel_workbench_controllers)/config/basic.yaml"/>

Expand All @@ -14,6 +15,7 @@
<param name="use_moveit" value="$(arg use_moveit)"/>
<param name="use_joint_states_topic" value="$(arg use_joint_state)"/>
<param name="use_cmd_vel_topic" value="$(arg use_cmd_vel)"/>
<param name="torque_off_on_shutdown" value="$(arg torque_off_on_shutdown)"/>
<rosparam>
publish_period: 0.010
dxl_read_period: 0.010
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14 changes: 14 additions & 0 deletions dynamixel_workbench_controllers/src/dynamixel_workbench_controllers.cpp
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Expand Up @@ -31,6 +31,7 @@ DynamixelController::DynamixelController()
is_joint_state_topic_ = priv_node_handle_.param<bool>("use_joint_states_topic", true);
is_cmd_vel_topic_ = priv_node_handle_.param<bool>("use_cmd_vel_topic", false);
use_moveit_ = priv_node_handle_.param<bool>("use_moveit", false);
torque_off_on_shutdown_ = priv_node_handle_.param<bool>("torque_off_on_shutdown", false);

read_period_ = priv_node_handle_.param<double>("dxl_read_period", 0.010f);
write_period_ = priv_node_handle_.param<double>("dxl_write_period", 0.010f);
Expand Down Expand Up @@ -762,6 +763,17 @@ bool DynamixelController::dynamixelCommandMsgCallback(dynamixel_workbench_msgs::
return true;
}

void DynamixelController::onShutdown()
{
if (torque_off_on_shutdown_ == true)
{
for (auto const& dxl:dynamixel_)
{
dxl_wb_->torqueOff((uint8_t)dxl.second);
}
}
}

int main(int argc, char **argv)
{
ros::init(argc, argv, "dynamixel_workbench_controllers");
Expand Down Expand Up @@ -839,5 +851,7 @@ int main(int argc, char **argv)

ros::spin();

dynamixel_controller.onShutdown();

return 0;
}