From 7c88eb020a4e3cc30660857db974a3c132e4cbb0 Mon Sep 17 00:00:00 2001 From: Darby Lim Date: Mon, 26 Nov 2018 08:58:00 +0900 Subject: [PATCH 1/3] update msg and srv --- dynamixel_workbench_msgs/CMakeLists.txt | 2 -- dynamixel_workbench_msgs/msg/DynamixelState.msg | 11 ++--------- dynamixel_workbench_msgs/srv/DynamixelCommand.srv | 3 ++- dynamixel_workbench_msgs/srv/JointCommand.srv | 7 ------- dynamixel_workbench_msgs/srv/WheelCommand.srv | 6 ------ 5 files changed, 4 insertions(+), 25 deletions(-) delete mode 100644 dynamixel_workbench_msgs/srv/JointCommand.srv delete mode 100644 dynamixel_workbench_msgs/srv/WheelCommand.srv diff --git a/dynamixel_workbench_msgs/CMakeLists.txt b/dynamixel_workbench_msgs/CMakeLists.txt index 4bbc0e6..3aa8741 100644 --- a/dynamixel_workbench_msgs/CMakeLists.txt +++ b/dynamixel_workbench_msgs/CMakeLists.txt @@ -43,8 +43,6 @@ add_message_files( add_service_files( FILES - JointCommand.srv - WheelCommand.srv GetDynamixelInfo.srv DynamixelCommand.srv ) diff --git a/dynamixel_workbench_msgs/msg/DynamixelState.msg b/dynamixel_workbench_msgs/msg/DynamixelState.msg index a676638..1af0b7c 100644 --- a/dynamixel_workbench_msgs/msg/DynamixelState.msg +++ b/dynamixel_workbench_msgs/msg/DynamixelState.msg @@ -1,16 +1,9 @@ # This message includes basic data of dynamixel -string model_name +string name uint8 id -uint8 torque_enable - -int16 goal_current -int32 goal_velocity -int32 goal_position int16 present_current int32 present_velocity -int32 present_position - -uint8 moving +int32 present_position diff --git a/dynamixel_workbench_msgs/srv/DynamixelCommand.srv b/dynamixel_workbench_msgs/srv/DynamixelCommand.srv index fdc2569..a83d850 100644 --- a/dynamixel_workbench_msgs/srv/DynamixelCommand.srv +++ b/dynamixel_workbench_msgs/srv/DynamixelCommand.srv @@ -3,8 +3,9 @@ string command +uint8 id string addr_name -int64 value +int32 value --- diff --git a/dynamixel_workbench_msgs/srv/JointCommand.srv b/dynamixel_workbench_msgs/srv/JointCommand.srv deleted file mode 100644 index c1f30bd..0000000 --- a/dynamixel_workbench_msgs/srv/JointCommand.srv +++ /dev/null @@ -1,7 +0,0 @@ -# This message is used to send position command to dynamixel - -string unit -uint8 id -float32 goal_position ---- -bool result diff --git a/dynamixel_workbench_msgs/srv/WheelCommand.srv b/dynamixel_workbench_msgs/srv/WheelCommand.srv deleted file mode 100644 index 05ee8d6..0000000 --- a/dynamixel_workbench_msgs/srv/WheelCommand.srv +++ /dev/null @@ -1,6 +0,0 @@ -# This message is used to send velocity command to dynamixel - -float32 right_vel -float32 left_vel ---- -bool result From d77e1dd4a743b75cd46425edd8bda0e5d28a881a Mon Sep 17 00:00:00 2001 From: Darby Lim Date: Wed, 28 Nov 2018 17:10:03 +0900 Subject: [PATCH 2/3] update --- dynamixel_workbench_msgs/msg/DynamixelState.msg | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/dynamixel_workbench_msgs/msg/DynamixelState.msg b/dynamixel_workbench_msgs/msg/DynamixelState.msg index 1af0b7c..11a7ce6 100644 --- a/dynamixel_workbench_msgs/msg/DynamixelState.msg +++ b/dynamixel_workbench_msgs/msg/DynamixelState.msg @@ -3,7 +3,9 @@ string name uint8 id -int16 present_current -int32 present_velocity int32 present_position +int32 present_velocity +int16 present_current + + From 90d5d86b0016a25e079efd56769e0685236d7a41 Mon Sep 17 00:00:00 2001 From: Darby Lim Date: Fri, 30 Nov 2018 13:12:19 +0900 Subject: [PATCH 3/3] change version to 2.0.0 --- dynamixel_workbench_msgs/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dynamixel_workbench_msgs/package.xml b/dynamixel_workbench_msgs/package.xml index c48960f..31a7086 100644 --- a/dynamixel_workbench_msgs/package.xml +++ b/dynamixel_workbench_msgs/package.xml @@ -1,7 +1,7 @@ dynamixel_workbench_msgs - 0.2.0 + 2.0.0 This package includes ROS messages and services for dynamixel_workbench packages