Initial commit

.vscode/settings.json

@@ -0,0 +1,67 @@
+{
+    "files.associations": {
+        "unordered_map": "cpp",
+        "functional": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "bit": "cpp",
+        "strstream": "cpp",
+        "unordered_set": "cpp",
+        "cfenv": "cpp",
+        "typeindex": "cpp",
+        "variant": "cpp"
+    }
+}

dynamixel_sdk/CHANGELOG.rst

@@ -0,0 +1,89 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package dynamixel_sdk
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.4.7 (2017-07-18)
+-----------
+* hotfix - Bug in Dynamixel group control is solved temporarily
+* Contributors: Leon, Zerom
+
+3.4.6 (2017-07-07)
+-----------
+* hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series)
+* Contributors: Leon
+
+3.4.5 (2017-05-23)
+-----------
+* added option to check if the id of rxpacket is the same as the id of txpacket.
+* Contributors: Leon, Zerom
+
+3.4.4 (2017-04-26)
+-----------
+* hotfix - return delay time is changed from 4 into 8 due to the Ubuntu update 16.04.2
+* Contributors: Leon
+
+3.4.3 (2017-02-17)
+-----------
+* DynamixelSDK C++ ver. and ROS ver. in Windows platform now can use the port number of over then 10 #45
+* Contributors: Leon
+
+3.4.2 (2017-02-16)
+-----------
+* fprintf output in GrouBulkRead of C++ removed
+* MATLAB library compiler error solving
+* Makefile for build example sources in SBC added
+* build files of windows c and c++ SDK rebuilt by using renewed SDK libraries
+* example source of dxl_monitor - c and cpp ver modified #50
+* Solved issue : #31, #34, #36, #50
+* Contributors: Leon
+
+3.4.1 (2016-08-22)
+-----------
+* added ROS package folder for ROS users
+* modified original header files for ROS package
+* Contributors: Leon
+
+3.4.0 (2016-08-12)
+-----------
+* first public release for Kinetic
+* added package information for wrapping version for ROS
+* added ROS catkin package files.
+* linux build file for SBC
+* License marks for example codes
+* Resource Files comments Korean -> English
+* Update Makefile
+* Update Makefile
+* comments modified & aligned
+* Release folders in c++ example removed & dxl_monitor.cpp Capital function name modified as ROS c++ code style & included file paths of packet/port handler in dynamixel_sdk.h removed and added parent header file
+* Update dxl_monitor.cpp
+* file opened
+* folder name modification error solved
+* License specified
+* Code Style modified into ROS C++ coding style
+  Function & File Names changed into underscored
+* Group Bulk/Sync class ClearParam() function changed.
+* dll file name changed
+* dll file name changed
+* Comment modified
+* [Protocol1PacketHandler]
+  RxPacket packet length re-calculate bug fixed.
+* [Protocol2PacketHandler]
+  RxPacket packet length re-calculate bug fixed.
+* Makefile updated
+  Source reorganization
+* Windows version updated
+  Makefile modified
+  Source reorganization
+* GroupBulkRead : GetData function bug fixed.
+* [GroupBulkRead / GroupSyncRead]
+  added IsAvailable() function
+  modified GetData() function
+* GetData() function changed.
+* reducing the count of calling MakeParam function
+* added rxpacket error check
+* ReadTxRx function modified. (to use TxRxPacket function)
+* DXL Monitor program arguments added.
+* if the last bulk_read / sync_read result is failure -> GetData return false
+* communication result & rx packet error print function modified.
+* first release
+* Contributors: Leon, Zerom, Pyo

dynamixel_sdk/CMakeLists.txt

@@ -0,0 +1,92 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(dynamixel_sdk)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-but-set-variable -Wno-unused-parameter -Wno-unused-variable)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+################################################################################
+# Build
+################################################################################
+include_directories(
+  include
+)
+
+set(DYNAMIXEL_SDK_SOURCES
+  src/packet_handler.cpp
+  src/protocol1_packet_handler.cpp
+  src/protocol2_packet_handler.cpp
+  src/group_sync_read.cpp
+  src/group_sync_write.cpp
+  src/group_bulk_read.cpp
+  src/group_bulk_write.cpp
+  src/port_handler.cpp
+)
+
+if(APPLE)
+  add_library(dynamixel_sdk SHARED
+    ${DYNAMIXEL_SDK_SOURCES}
+    src/port_handler_mac.cpp
+  )
+elseif(WIN32)
+  add_library(dynamixel_sdk SHARED
+    ${DYNAMIXEL_SDK_SOURCES}
+    src/port_handler_windows.cpp
+  )
+else()
+  add_library(dynamixel_sdk SHARED
+    ${DYNAMIXEL_SDK_SOURCES}
+    src/port_handler_linux.cpp
+  )
+endif()
+
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+message( STATUS "Architecture: ${ARCHITECTURE}" )
+
+if (${ARCHITECTURE} MATCHES "aarch64")
+    message(STATUS "wiringPi library is required for dynamixel_sdk (aarch64 processor)")
+    target_link_libraries(dynamixel_sdk
+        ${catkin_LIBRARIES} 
+        -lwiringPi
+    )
+else()
+    message(STATUS "wiringPi library not required")
+    target_link_libraries(dynamixel_sdk 
+        ${catkin_LIBRARIES} 
+    )
+endif()
+
+################################################################################
+# Install
+################################################################################
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_package()

dynamixel_sdk/README.md

@@ -0,0 +1,5 @@
+# Dynamixel SDK
+
+This package has been forked from the official [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) package. 
+
+It has been adapted to work on the Niryo custom Raspberry Pi 3 shield, using the [wiringPi](http://wiringpi.com/) library.

dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h

@@ -0,0 +1,53 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_
+
+
+#include "dynamixel_sdk/group_bulk_read.h"
+#include "dynamixel_sdk/group_bulk_write.h"
+#include "dynamixel_sdk/group_sync_read.h"
+#include "dynamixel_sdk/group_sync_write.h"
+#include "dynamixel_sdk/protocol1_packet_handler.h"
+#include "dynamixel_sdk/protocol2_packet_handler.h"
+
+#ifdef __linux__
+  #include "dynamixel_sdk/port_handler_linux.h"
+#endif
+
+#if defined(_WIN32) || defined(_WIN64)
+  #include "dynamixel_sdk/port_handler_windows.h"
+#endif
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */

dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h

@@ -0,0 +1,85 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: zerom, Ryu Woon Jung (Leon) */
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_
+
+
+#include <map>
+#include <vector>
+#include "dynamixel_sdk/port_handler.h"
+#include "dynamixel_sdk/packet_handler.h"
+
+namespace dynamixel
+{
+
+class WINDECLSPEC GroupBulkRead
+{
+ private:
+  PortHandler    *port_;
+  PacketHandler  *ph_;
+
+  std::vector<uint8_t>            id_list_;
+  std::map<uint8_t, uint16_t>     address_list_;  // <id, start_address>
+  std::map<uint8_t, uint16_t>     length_list_;   // <id, data_length>
+  std::map<uint8_t, uint8_t *>    data_list_;     // <id, data>
+
+  bool            last_result_;
+  bool            is_param_changed_;
+
+  uint8_t        *param_;
+
+  void    makeParam();
+
+ public:
+  GroupBulkRead(PortHandler *port, PacketHandler *ph);
+  ~GroupBulkRead() { clearParam(); }
+
+  PortHandler     *getPortHandler()   { return port_; }
+  PacketHandler   *getPacketHandler() { return ph_; }
+
+  bool    addParam    (uint8_t id, uint16_t start_address, uint16_t data_length);
+  void    removeParam (uint8_t id);
+  void    clearParam  ();
+
+  int     txPacket();
+  int     rxPacket();
+  int     txRxPacket();
+
+  bool        isAvailable (uint8_t id, uint16_t address, uint16_t data_length);
+  uint32_t    getData     (uint8_t id, uint16_t address, uint16_t data_length);
+};
+
+}
+
+
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */