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dxl_read_write.py
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#!/usr/bin/env python
"""Read dynamixel state and publish through ROS. Also, control dynamixel position with subscribed joint command
- Author: DH Kim
- Contact: [email protected]
"""
import numpy as np
# ROS Imports
import rospy
from config.dynamixel import config as cfg
from dynamixel_sdk import (
DXL_HIBYTE,
DXL_HIWORD,
DXL_LOBYTE,
DXL_LOWORD,
GroupBulkRead,
GroupSyncWrite,
PacketHandler,
PortHandler,
)
from sensor_msgs.msg import JointState
from std_msgs.msg import Float64MultiArray
from utils import deg2rad, rad2deg, rpm2rad
class DynamixelPositionControl(object):
"""Dynamixel read & write class."""
def __init__(self, cfg):
# Dynamixel Setting
rospy.loginfo("Dynamixel Position Controller Created")
self.cfg = cfg
self.portHandler = PortHandler(self.cfg["DEVICENAME"])
self.packetHandler = PacketHandler(self.cfg["PROTOCOL_VERSION"])
self.groupSyncWrite = GroupSyncWrite(
self.portHandler,
self.packetHandler,
self.cfg["ADDR_GOAL_POSITION"],
self.cfg["LEN_GOAL_POSITION"],
)
self.groupBulkReadPosition = GroupBulkRead(self.portHandler, self.packetHandler)
self.groupBulkReadVelocity = GroupBulkRead(self.portHandler, self.packetHandler)
self.groupBulkReadCurrent = GroupBulkRead(self.portHandler, self.packetHandler)
# Port Open
if self.portHandler.openPort():
print("Succeeded to open the port")
else:
print("Failed to open the port")
quit()
# Set port baudrate
if self.portHandler.setBaudRate(self.cfg["BAUDRATE"]):
print("Succeeded to change the baudrate")
else:
print("Failed to change the baudrate")
quit()
self.packetHandler.write1ByteTxRx(
self.portHandler, self.cfg["DXL1_ID"], self.cfg["ADDR_OP_MODE"], 3
)
self.packetHandler.write1ByteTxRx(
self.portHandler, self.cfg["DXL2_ID"], self.cfg["ADDR_OP_MODE"], 3
)
self.packetHandler.write1ByteTxRx(
self.portHandler, self.cfg["DXL3_ID"], self.cfg["ADDR_OP_MODE"], 3
)
self.packetHandler.write1ByteTxRx(
self.portHandler, self.cfg["DXL4_ID"], self.cfg["ADDR_OP_MODE"], 3
)
self.groupBulkReadPosition.addParam(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.groupBulkReadPosition.addParam(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.groupBulkReadPosition.addParam(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.groupBulkReadPosition.addParam(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.groupBulkReadVelocity.addParam(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.groupBulkReadVelocity.addParam(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.groupBulkReadVelocity.addParam(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.groupBulkReadVelocity.addParam(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.groupBulkReadCurrent.addParam(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.groupBulkReadCurrent.addParam(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.groupBulkReadCurrent.addParam(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.groupBulkReadCurrent.addParam(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
# Enable Dynamixel Torque
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL1_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_ENABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL2_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_ENABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL3_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_ENABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL4_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_ENABLE"],
)
# ROS Publisher
self.joint_states_pub = rospy.Publisher(
"/open_manipulator/joint_states_real", JointState, queue_size=3
)
# ROS Subcriber
self.joint_pos_command_sub = rospy.Subscriber(
"/open_manipulator/joint_position/command",
Float64MultiArray,
self.joint_command_cb,
)
self.joint_states = JointState()
self.dxl_present_position = np.zeros(4)
self.dxl_present_velocity = np.zeros(4)
self.dxl_present_current = np.zeros(4)
self.q_desired = np.zeros(4)
self.dxl_goal_position = [
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0],
]
self.read_dxl()
for i in range(4):
self.dxl_goal_position[i] = [
DXL_LOBYTE(DXL_LOWORD(int(self.dxl_present_position[i]))),
DXL_HIBYTE(DXL_LOWORD(int(self.dxl_present_position[i]))),
DXL_LOBYTE(DXL_HIWORD(int(self.dxl_present_position[i]))),
DXL_HIBYTE(DXL_HIWORD(int(self.dxl_present_position[i]))),
]
self.r = rospy.Rate(100)
try:
while not rospy.is_shutdown():
self.read_dxl()
self.write_dxl()
self.r.sleep()
except KeyboardInterrupt:
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL1_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_DISABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL2_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_DISABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL3_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_DISABLE"],
)
self.packetHandler.write1ByteTxRx(
self.portHandler,
self.cfg["DXL4_ID"],
self.cfg["ADDR_TORQUE_ENABLE"],
self.cfg["TORQUE_DISABLE"],
)
def joint_command_cb(self, joint_desired):
""" Transform subscribed joint command to dynamixel byte information."""
i = 0
while i < 4:
self.q_desired[i] = joint_desired.data[i]
dxl_command = int(
rad2deg(self.q_desired[i]) / self.cfg["DXL_RESOLUTION"]
+ self.cfg["DXL_POS_OFFSET"]
)
if dxl_command > self.cfg["CW_LIMIT"]:
dxl_command = self.cfg["CW_LIMIT"]
elif dxl_command < self.cfg["CCW_LIMIT"]:
dxl_command = self.cfg["CCW_LIMIT"]
self.dxl_goal_position[i] = [
DXL_LOBYTE(DXL_LOWORD(dxl_command)),
DXL_HIBYTE(DXL_LOWORD(dxl_command)),
DXL_LOBYTE(DXL_HIWORD(dxl_command)),
DXL_HIBYTE(DXL_HIWORD(dxl_command)),
]
i += 1
def read_dxl(self):
""" Read dynamixel position, velocity, current value and publish through ROS."""
self.groupBulkReadPosition.txRxPacket()
self.dxl_present_position[0] = self.groupBulkReadPosition.getData(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.dxl_present_position[1] = self.groupBulkReadPosition.getData(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.dxl_present_position[2] = self.groupBulkReadPosition.getData(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.dxl_present_position[3] = self.groupBulkReadPosition.getData(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_POSITION"],
self.cfg["LEN_PRESENT_POSITION"],
)
self.groupBulkReadVelocity.txRxPacket()
self.dxl_present_velocity[0] = self.groupBulkReadVelocity.getData(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.dxl_present_velocity[1] = self.groupBulkReadVelocity.getData(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.dxl_present_velocity[2] = self.groupBulkReadVelocity.getData(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.dxl_present_velocity[3] = self.groupBulkReadVelocity.getData(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_VELOCITY"],
self.cfg["LEN_PRESENT_VELOCITY"],
)
self.groupBulkReadCurrent.txRxPacket()
self.dxl_present_current[0] = self.groupBulkReadVelocity.getData(
self.cfg["DXL1_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.dxl_present_current[1] = self.groupBulkReadVelocity.getData(
self.cfg["DXL2_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.dxl_present_current[2] = self.groupBulkReadVelocity.getData(
self.cfg["DXL3_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
self.dxl_present_current[3] = self.groupBulkReadVelocity.getData(
self.cfg["DXL4_ID"],
self.cfg["ADDR_PRESENT_CURRENT"],
self.cfg["LEN_PRESENT_CURRENT"],
)
for i in range(4):
if self.dxl_present_velocity[i] > 2 ** (
8 * self.cfg["ADDR_PRESENT_VELOCITY"] / 2
):
self.dxl_present_velocity[i] = self.dxl_present_velocity[i] - 2 ** (
8 * self.cfg["ADDR_PRESENT_VELOCITY"]
)
if self.dxl_present_current[i] > 2 ** (
8 * self.cfg["LEN_PRESENT_CURRENT"] / 2
):
self.dxl_present_current[i] = self.dxl_present_current[i] - 2 ** (
8 * self.cfg["LEN_PRESENT_CURRENT"]
)
q_current = [
0.0,
0.0,
deg2rad(
(self.dxl_present_position[0] - self.cfg["DXL_POS_OFFSET"])
* self.cfg["DXL_RESOLUTION"]
),
deg2rad(
(self.dxl_present_position[1] - self.cfg["DXL_POS_OFFSET"])
* self.cfg["DXL_RESOLUTION"]
),
deg2rad(
(self.dxl_present_position[2] - self.cfg["DXL_POS_OFFSET"])
* self.cfg["DXL_RESOLUTION"]
),
deg2rad(
(self.dxl_present_position[3] - self.cfg["DXL_POS_OFFSET"])
* self.cfg["DXL_RESOLUTION"]
),
]
qdot_current = [
0.0,
0.0,
rpm2rad(self.dxl_present_velocity[0] * self.cfg["DXL_VELOCITY_RESOLUTION"]),
rpm2rad(self.dxl_present_velocity[1] * self.cfg["DXL_VELOCITY_RESOLUTION"]),
rpm2rad(self.dxl_present_velocity[2] * self.cfg["DXL_VELOCITY_RESOLUTION"]),
rpm2rad(self.dxl_present_velocity[3] * self.cfg["DXL_VELOCITY_RESOLUTION"]),
]
motor_current = [
0.0,
0.0,
self.dxl_present_current[0] * self.cfg["DXL_TO_CURRENT"],
self.dxl_present_current[1] * self.cfg["DXL_TO_CURRENT"],
self.dxl_present_current[2] * self.cfg["DXL_TO_CURRENT"],
self.dxl_present_current[3] * self.cfg["DXL_TO_CURRENT"],
]
self.joint_states.position = q_current
self.joint_states.velocity = qdot_current
self.joint_states.effort = motor_current
self.joint_states_pub.publish(self.joint_states)
def write_dxl(self):
""" Write joint command to dynamixel."""
self.groupSyncWrite.addParam(self.cfg["DXL1_ID"], self.dxl_goal_position[0])
self.groupSyncWrite.addParam(self.cfg["DXL2_ID"], self.dxl_goal_position[1])
self.groupSyncWrite.addParam(self.cfg["DXL3_ID"], self.dxl_goal_position[2])
self.groupSyncWrite.addParam(self.cfg["DXL4_ID"], self.dxl_goal_position[3])
self.groupSyncWrite.txPacket()
self.groupSyncWrite.clearParam()
def error_check(self, dxl_comm_result, dxl_error):
""" Check dynamixel error."""
if dxl_comm_result != self.cfg["COMM_SUCCESS"]:
print("%s" % self.packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % self.packetHandler.getRxPacketError(dxl_error))
def main():
rospy.init_node("dynamixel_read_write")
try:
DynamixelPositionControl(cfg)
except rospy.ROSInterruptException:
pass
rospy.spin()
if __name__ == "__main__":
main()