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Update hardware interface (#43)

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- Minimal working hardware plugin with v1.0 openarmcan. 
- gripper logic unimplemented
This commit is contained in:
Yue Yin 2025-07-23 16:08:34 +09:00 committed by GitHub
parent c13caffff2
commit 110fd278ff
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
15 changed files with 474 additions and 1609 deletions
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36
openarm_hardware/CMakeLists.txt
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@ -27,11 +27,11 @@ find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED) find_package(rclcpp_lifecycle REQUIRED)
# Find openarm_can library
find_package(OpenArmCAN REQUIRED)
add_library(${PROJECT_NAME} SHARED add_library(${PROJECT_NAME} SHARED
src/openarm_hardware.cpp src/v10_simple_hardware.cpp
src/canbus.cpp
src/motor.cpp
src/motor_control.cpp
) )
target_include_directories( target_include_directories(
@ -40,6 +40,10 @@ target_include_directories(
include include
) )
target_link_libraries(${PROJECT_NAME}
OpenArmCAN::openarm_can
)
ament_target_dependencies(${PROJECT_NAME} ament_target_dependencies(${PROJECT_NAME}
hardware_interface hardware_interface
pluginlib pluginlib
@ -58,30 +62,6 @@ install(DIRECTORY include/
DESTINATION include DESTINATION include
) )
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(ros2_control_test_assets REQUIRED)
ament_add_gmock(test_openarm_hardware
test/test_openarm_hardware.cpp
)
target_link_libraries(test_openarm_hardware
${PROJECT_NAME}
)
ament_target_dependencies(test_openarm_hardware
hardware_interface
ros2_control_test_assets
)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories( ament_export_include_directories(
include include
) )

48
openarm_hardware/include/openarm_hardware/canbus.hpp
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@ -1,48 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <fcntl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <array>
#include <cstdint>
#include <cstring>
#include <iostream>
#include <string>
enum CANMode { CAN_MODE_CLASSIC = 0, CAN_MODE_FD = 1 };
class CANBus {
public:
explicit CANBus(const std::string& interface, int mode);
~CANBus();
int whichCAN();
bool send(uint16_t motor_id, const std::array<uint8_t, 8>& data);
std::array<uint8_t, 64> recv(uint16_t& out_id, uint8_t& out_len);
private:
bool sendClassic(uint16_t motor_id, const std::array<uint8_t, 8>& data);
bool sendFD(uint16_t motor_id, const std::array<uint8_t, 8>& data);
struct can_frame recvClassic();
struct canfd_frame recvFD();
int sock_;
int mode_;
};

156
openarm_hardware/include/openarm_hardware/motor.hpp
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@ -1,156 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <stdio.h>
#include <algorithm>
#include <array>
#include <cstdint>
#include <cstring>
#include <iostream>
#include <map>
#include <vector>
enum class DM_Motor_Type : uint8_t {
DM4310 = 0,
DM4310_48V,
DM4340,
DM4340_48V,
DM6006,
DM8006,
DM8009,
DM10010L,
DM10010,
DMH3510,
DMH6215,
DMG6220,
COUNT
};
enum class DM_variable : uint8_t {
UV_Value = 0,
KT_Value,
OT_Value,
OC_Value,
ACC,
DEC,
MAX_SPD,
MST_ID,
ESC_ID,
TIMEOUT,
CTRL_MODE,
Damp,
Inertia,
hw_ver,
sw_ver,
SN,
NPP,
Rs,
LS,
Flux,
Gr,
PMAX,
VMAX,
TMAX,
I_BW,
KP_ASR,
KI_ASR,
KP_APR,
KI_APR,
OV_Value,
GREF,
Deta,
V_BW,
IQ_c1,
VL_c1,
can_br,
sub_ver,
u_off = 50,
v_off,
k1,
k2,
m_off,
dir,
p_m = 80,
xout,
COUNT
};
enum class Control_Type : uint8_t { MIT = 1, POS_VEL, VEL, Torque_Pos, COUNT };
class Motor {
public:
Motor() = default;
Motor(DM_Motor_Type motorType, uint16_t slaveID, uint16_t masterID);
void recv_data(double q, double dq, double tau, int tmos, int trotor);
double getPosition() const;
double getVelocity() const;
double getTorque() const;
int getParam(int RID) const;
void setTempParam(int RID, int val);
uint16_t SlaveID;
uint16_t MasterID;
bool isEnable;
Control_Type NowControlMode;
DM_Motor_Type MotorType;
int getStateTmos() const;
int getStateTrotor() const;
double getGoalPosition() const;
double getGoalVelocity() const;
double getGoalTau() const;
void setGoalPosition(double pos);
void setGoalVelocity(double vel);
void setGoalTau(double tau);
void setStateTmos(int tmos);
void setStateTrotor(int trotor);
private:
double Pd, Vd;
double goal_position, goal_velocity, goal_tau;
double state_q, state_dq, state_tau;
int state_tmos, state_trotor;
std::map<int, int> temp_param_dict;
};
double LIMIT_MIN_MAX(double x, double min, double max);
uint16_t double_to_uint(double x, double x_min, double x_max, int bits);
double uint_to_double(uint16_t x, double min, double max, int bits);
std::array<uint8_t, 8> double_to_uint8s(double value);
std::array<uint8_t, 4> float_to_uint8s(float value);
float uint8s_to_float(const std::array<uint8_t, 4>& bytes);
std::array<uint8_t, 8> data_to_uint8s(uint32_t value);
uint32_t uint8s_to_uint32(uint8_t byte1, uint8_t byte2, uint8_t byte3,
uint8_t byte4);
double uint8s_to_double(uint8_t byte1, uint8_t byte2, uint8_t byte3,
uint8_t byte4);
bool is_in_ranges(int number);
void print_hex(const std::vector<uint8_t>& data);
template <typename T>
T get_enum_by_index(int index);

87
openarm_hardware/include/openarm_hardware/motor_control.hpp
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@ -1,87 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <unistd.h>
#include <array>
#include <atomic>
#include <chrono>
#include <cstring>
#include <functional>
#include <iostream>
#include <map>
#include <thread>
#include <vector>
#include "canbus.hpp"
#include "motor.hpp"
class MotorControl {
public:
explicit MotorControl(CANBus& canbus);
bool addMotor(Motor& motor);
void enable(Motor& motor);
void disable(Motor& motor);
void set_zero_position(Motor& motor);
void controlMIT(Motor& motor, double kp, double kd, double q, double dq,
double tau);
void controlMIT2(Motor& motor, double kp, double kd, double q, double dq,
double tau);
void sendData(uint16_t motor_id, const std::array<uint8_t, 8>& data);
void recv();
void control_delay(Motor& motor, double kp, double kd, double q, double dq,
double tau, double delay);
void controlPosVel(Motor& motor, double q, double dq);
void controlPosVel2(Motor& motor, double q, double dq);
void controlVel(Motor& motor, double dq);
void controlVel2(Motor& motor, double dq);
void controlPosForce(Motor& motor, double q, double vel, double tau);
void controlPosForce2(Motor& motor, double q, double vel, double tau);
bool switchControlMode(Motor& motor, Control_Type controlMode);
void save_motor_param(Motor& motor);
void change_limit_param();
// void change_limit_param(DM_Motor_Type motor_type, double PMAX, double VMAX,
// double TMAX);
void recv_set_param_data();
private:
CANBus& canbus_;
std::map<uint16_t, Motor*> motors_map_;
static constexpr double Limit_Param[12][3] = {
{12.5, 30, 10}, // DM4310
{12.5, 50, 10}, // DM4310_48V
{12.5, 8, 28}, // DM4340
{12.5, 10, 28}, // DM4340_48V
{12.5, 45, 20}, // DM6006
{12.5, 45, 40}, // DM8006
{12.5, 45, 54}, // DM8009
{12.5, 25, 200}, // DM10010L
{12.5, 20, 200}, // DM10010
{12.5, 280, 1}, // DMH3510
{12.5, 45, 10}, // DMH6215
{12.5, 45, 10}, // DMG6220
};
void processPacket(const can_frame& frame);
void processPacketFD(const canfd_frame& frame);
void controlCmd(Motor& motor, uint8_t cmd);
void readRIDParam(Motor& motor, DM_variable RID);
void writeMotorParam(Motor& motor, DM_variable RID, double value);
};

110
openarm_hardware/include/openarm_hardware/openarm_hardware.hpp
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@ -1,110 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <memory>
#include <string>
#include <vector>
#include "canbus.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "motor.hpp"
#include "motor_control.hpp"
#include "openarm_hardware/visibility_control.h"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace openarm_hardware {
std::vector<DM_Motor_Type> motor_types{
DM_Motor_Type::DM4340, DM_Motor_Type::DM4340, DM_Motor_Type::DM4340,
DM_Motor_Type::DM4340, DM_Motor_Type::DM4310, DM_Motor_Type::DM4310,
DM_Motor_Type::DM4310};
std::vector<uint16_t> can_device_ids{0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
std::vector<uint16_t> can_master_ids{0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17};
static const Control_Type CONTROL_MODE = Control_Type::MIT;
static const std::size_t ARM_DOF = 7;
static const std::size_t GRIPPER_DOF = 1;
static const std::size_t TOTAL_DOF = ARM_DOF + GRIPPER_DOF;
static const std::array<double, TOTAL_DOF> KP = {80.0, 80.0, 20.0, 55.0,
5.0, 5.0, 5.0, 0.5};
static const std::array<double, TOTAL_DOF> KD = {2.75, 2.5, 0.7, 0.4,
0.7, 0.6, 0.5, 0.1};
static const double START_POS_TOLERANCE_RAD = 0.1;
static const double POS_JUMP_TOLERANCE_RAD = 3.1415 / 16.0;
static const bool USING_GRIPPER = true;
static const double GRIPPER_REFERENCE_GEAR_RADIUS_M = 0.00853;
static const double GRIPPER_GEAR_DIRECTION_MULTIPLIER = -1.0;
static const int GRIPPER_INDEX = TOTAL_DOF - 1;
class OpenArmHW : public hardware_interface::SystemInterface {
public:
OpenArmHW();
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareInfo& info) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces()
override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces()
override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type read(const rclcpp::Time& time,
const rclcpp::Duration& period) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type write(
const rclcpp::Time& time, const rclcpp::Duration& period) override;
std::size_t curr_dof = ARM_DOF; // minus gripper
private:
std::string prefix_;
std::unique_ptr<CANBus> canbus_;
std::unique_ptr<MotorControl> motor_control_;
std::vector<double> pos_commands_;
std::vector<double> pos_states_;
std::vector<double> vel_commands_;
std::vector<double> vel_states_;
std::vector<double> tau_ff_commands_;
std::vector<double> tau_states_;
std::vector<std::unique_ptr<Motor>> motors_;
void refresh_motors();
bool disable_torque_;
};
} // namespace openarm_hardware

138
openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp Normal file
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@ -0,0 +1,138 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <memory>
#include <openarm/can/socket/openarm.hpp>
#include <openarm/damiao_motor/dm_motor_constants.hpp>
#include <string>
#include <vector>
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "openarm_hardware/visibility_control.h"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/state.hpp"
namespace openarm_hardware {
/**
* @brief Simplified OpenArm V10 Hardware Interface
*
* This is a simplified version that uses the OpenArm CAN API directly,
* following the pattern from full_arm.cpp example. Much simpler than
* the original implementation.
*/
class OpenArm_v10HW : public hardware_interface::SystemInterface {
public:
OpenArm_v10HW();
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareInfo& info) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_configure(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces()
override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces()
override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State& previous_state) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type read(const rclcpp::Time& time,
const rclcpp::Duration& period) override;
TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
hardware_interface::return_type write(
const rclcpp::Time& time, const rclcpp::Duration& period) override;
private:
// V10 default configuration
static constexpr size_t ARM_DOF = 7;
static constexpr bool ENABLE_GRIPPER = true;
// Default motor configuration for V10
const std::vector<openarm::damiao_motor::MotorType> DEFAULT_MOTOR_TYPES = {
openarm::damiao_motor::MotorType::DM8009, // Joint 1
openarm::damiao_motor::MotorType::DM8009, // Joint 2
openarm::damiao_motor::MotorType::DM4340, // Joint 3
openarm::damiao_motor::MotorType::DM4340, // Joint 4
openarm::damiao_motor::MotorType::DM4310, // Joint 5
openarm::damiao_motor::MotorType::DM4310, // Joint 6
openarm::damiao_motor::MotorType::DM4310 // Joint 7
};
const std::vector<uint32_t> DEFAULT_SEND_CAN_IDS = {0x01, 0x02, 0x03, 0x04,
0x05, 0x06, 0x07};
const std::vector<uint32_t> DEFAULT_RECV_CAN_IDS = {0x11, 0x12, 0x13, 0x14,
0x15, 0x16, 0x17};
const openarm::damiao_motor::MotorType DEFAULT_GRIPPER_MOTOR_TYPE =
openarm::damiao_motor::MotorType::DM4310;
const uint32_t DEFAULT_GRIPPER_SEND_CAN_ID = 0x08;
const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18;
// Default gains
const std::vector<double> DEFAULT_KP = {80.0, 80.0, 20.0, 55.0,
5.0, 5.0, 5.0, 0.5};
const std::vector<double> DEFAULT_KD = {2.75, 2.5, 0.7, 0.4,
0.7, 0.6, 0.5, 0.1};
// Configuration
std::string can_interface_;
std::string arm_prefix_;
bool hand_;
bool can_fd_;
// OpenArm instance
std::unique_ptr<openarm::can::socket::OpenArm> openarm_;
// Generated joint names for this arm instance
std::vector<std::string> joint_names_;
// ROS2 control state and command vectors
std::vector<double> pos_commands_;
std::vector<double> vel_commands_;
std::vector<double> tau_commands_;
std::vector<double> pos_states_;
std::vector<double> vel_states_;
std::vector<double> tau_states_;
// Helper methods
void return_to_zero();
bool parse_config(const hardware_interface::HardwareInfo& info);
void generate_joint_names();
// Gripper mapping functions
double joint_to_motor_radians(double joint_value);
double motor_radians_to_joint(double motor_radians);
};
} // namespace openarm_hardware

6
openarm_hardware/openarm_hardware.xml
View File

@ -15,11 +15,11 @@
--> -->
<library path="openarm_hardware"> <library path="openarm_hardware">
<class name="openarm_hardware/OpenArmHW" <class name="openarm_hardware/OpenArm_v10HW"
type="openarm_hardware::OpenArmHW" type="openarm_hardware::OpenArm_v10HW"
base_class_type="hardware_interface::SystemInterface"> base_class_type="hardware_interface::SystemInterface">
<description> <description>
ros2_control hardware interface. ros2_control hardware interface for OpenArm V10.
</description> </description>
</class> </class>
</library> </library>

4
openarm_hardware/package.xml
View File

@ -17,9 +17,9 @@
--> -->
<package format="3"> <package format="3">
<name>openarm_hardware</name> <name>openarm_hardware</name>
<version>1.0.0</version> <version>0.3.0</version>
<description>Hardware interface for OpenArm</description> <description>Hardware interface for OpenArm</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer> <maintainer email="openarm_dev@enactic.ai">Enactic, Inc.</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>

34
openarm_hardware/setup.bash
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@ -1,34 +0,0 @@
#!/bin/bash
#
# Copyright 2025 Reazon Holdings, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
CAN_INTERFACE=can0
for DEVICE in /dev/ttyACM*; do
if [ -e "$DEVICE" ]; then
echo "Using device: $DEVICE"
break
fi
done
if [ -z "$DEVICE" ]; then
echo "No /dev/ttyACM* device found."
exit 1
fi
sudo pkill -f slcand
sudo slcand -o -c -s8 "$DEVICE" "$CAN_INTERFACE"
sudo ip link set "$CAN_INTERFACE" up type can bitrate 1000000
ip link show "$CAN_INTERFACE"

131
openarm_hardware/src/canbus.cpp
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@ -1,131 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "openarm_hardware/canbus.hpp"
CANBus::CANBus(const std::string& interface, int mode) : mode_(mode) {
struct ifreq ifr;
struct sockaddr_can addr;
sock_ = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (sock_ < 0) {
perror("Error while opening CAN socket");
exit(EXIT_FAILURE);
}
std::strncpy(ifr.ifr_name, interface.c_str(), IFNAMSIZ);
if (ioctl(sock_, SIOCGIFINDEX, &ifr) < 0) {
perror("Error getting interface index");
exit(EXIT_FAILURE);
}
std::memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (mode_ == CAN_MODE_FD) {
int enable_canfd = 1;
if (setsockopt(sock_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable_canfd,
sizeof(enable_canfd)) < 0) {
perror("CAN FD setsockopt failed");
exit(EXIT_FAILURE);
}
}
if (bind(sock_, (struct sockaddr*)&addr, sizeof(addr)) < 0) {
perror("Error in CAN socket bind");
exit(EXIT_FAILURE);
}
}
CANBus::~CANBus() { close(sock_); }
int CANBus::whichCAN() { return mode_; }
bool CANBus::send(uint16_t motor_id, const std::array<uint8_t, 8>& data) {
if (mode_ == CAN_MODE_FD)
return sendFD(motor_id, data);
else
return sendClassic(motor_id, data);
}
std::array<uint8_t, 64> CANBus::recv(uint16_t& out_id, uint8_t& out_len) {
std::array<uint8_t, 64> buffer = {};
if (mode_ == CAN_MODE_FD) {
auto frame = recvFD();
out_id = frame.can_id;
out_len = frame.len;
std::copy(frame.data, frame.data + frame.len, buffer.begin());
} else {
auto frame = recvClassic();
out_id = frame.can_id;
out_len = frame.can_dlc;
std::copy(frame.data, frame.data + frame.can_dlc, buffer.begin());
}
return buffer;
}
bool CANBus::sendClassic(uint16_t motor_id,
const std::array<uint8_t, 8>& data) {
struct can_frame frame;
std::memset(&frame, 0, sizeof(frame));
frame.can_id = motor_id;
frame.can_dlc = data.size();
std::copy(data.begin(), data.end(), frame.data);
if (write(sock_, &frame, sizeof(frame)) != sizeof(frame)) {
perror("Error sending CAN frame");
return false;
}
return true;
}
bool CANBus::sendFD(uint16_t motor_id, const std::array<uint8_t, 8>& data) {
struct canfd_frame frame;
std::memset(&frame, 0, sizeof(frame));
frame.can_id = motor_id;
frame.len = data.size();
frame.flags = CANFD_BRS;
std::copy(data.begin(), data.end(), frame.data);
if (write(sock_, &frame, sizeof(frame)) != sizeof(frame)) {
perror("Error sending CAN FD frame");
return false;
}
return true;
}
struct can_frame CANBus::recvClassic() {
struct can_frame frame;
std::memset(&frame, 0, sizeof(frame));
int nbytes = read(sock_, &frame, sizeof(struct can_frame));
if (nbytes < 0) {
perror("CAN read error");
}
return frame;
}
struct canfd_frame CANBus::recvFD() {
struct canfd_frame frame;
std::memset(&frame, 0, sizeof(frame));
int nbytes = read(sock_, &frame, sizeof(struct canfd_frame));
if (nbytes < 0) {
perror("CAN FD read error");
}
return frame;
}

152
openarm_hardware/src/motor.cpp
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// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef OPENARM_MOTOR_H_
#define OPENARM_MOTOR_H_
#include "openarm_hardware/motor.hpp"
Motor::Motor(DM_Motor_Type motorType, uint16_t slaveID, uint16_t masterID)
: MotorType(motorType),
SlaveID(slaveID),
MasterID(masterID),
Pd(0.0),
Vd(0.0),
goal_position(0.0),
goal_tau(0.0),
state_q(0.0),
state_dq(0.0),
state_tau(0.0),
state_tmos(0),
state_trotor(0),
isEnable(false),
NowControlMode(Control_Type::MIT) {}
void Motor::recv_data(double q, double dq, double tau, int tmos, int trotor) {
state_q = q;
state_dq = dq;
state_tau = tau;
state_tmos = tmos;
state_trotor = trotor;
}
double Motor::getPosition() const { return state_q; }
double Motor::getVelocity() const { return state_dq; }
double Motor::getTorque() const { return state_tau; }
double Motor::getGoalPosition() const { return goal_position; }
void Motor::setGoalPosition(double pos) { goal_position = pos; }
double Motor::getGoalVelocity() const { return goal_velocity; }
void Motor::setGoalVelocity(double velocity) { goal_velocity = velocity; }
double Motor::getGoalTau() const { return goal_tau; }
void Motor::setGoalTau(double tau) { goal_tau = tau; }
int Motor::getStateTmos() const { return state_tmos; }
void Motor::setStateTmos(int tmos) { state_tmos = tmos; }
int Motor::getStateTrotor() const { return state_trotor; }
void Motor::setStateTrotor(int trotor) { state_trotor = trotor; }
int Motor::getParam(int RID) const {
auto it = temp_param_dict.find(RID);
return (it != temp_param_dict.end()) ? it->second : -1;
}
void Motor::setTempParam(int RID, int value) { temp_param_dict[RID] = value; }
double LIMIT_MIN_MAX(double x, double min, double max) {
return std::max(min, std::min(x, max));
}
uint16_t double_to_uint(double x, double x_min, double x_max, int bits) {
x = LIMIT_MIN_MAX(x, x_min, x_max);
double span = x_max - x_min;
double data_norm = (x - x_min) / span;
return static_cast<uint16_t>(data_norm * ((1 << bits) - 1));
}
double uint_to_double(uint16_t x, double min, double max, int bits) {
double span = max - min;
double data_norm = static_cast<double>(x) / ((1 << bits) - 1);
return data_norm * span + min;
}
std::array<uint8_t, 8> double_to_uint8s(double value) {
std::array<uint8_t, 8> bytes;
std::memcpy(bytes.data(), &value, sizeof(double));
return bytes;
}
std::array<uint8_t, 4> float_to_uint8s(float value) {
std::array<uint8_t, 4> bytes{};
std::memcpy(bytes.data(), &value, sizeof(float));
return bytes;
}
float uint8s_to_float(const std::array<uint8_t, 4>& bytes) {
float value;
std::memcpy(&value, bytes.data(), sizeof(float));
return value;
}
std::array<uint8_t, 8> data_to_uint8s(uint32_t value) {
std::array<uint8_t, 8> bytes;
std::memcpy(bytes.data(), &value, sizeof(uint32_t));
return bytes;
}
uint32_t uint8s_to_uint32(uint8_t byte1, uint8_t byte2, uint8_t byte3,
uint8_t byte4) {
uint32_t value;
uint8_t bytes[4] = {byte1, byte2, byte3, byte4};
std::memcpy(&value, bytes, sizeof(uint32_t));
return value;
}
double uint8s_to_double(uint8_t byte1, uint8_t byte2, uint8_t byte3,
uint8_t byte4) {
double value;
uint8_t bytes[4] = {byte1, byte2, byte3, byte4};
std::memcpy(&value, bytes, sizeof(double));
return value;
}
bool is_in_ranges(int number) {
return (7 <= number && number <= 10) || (13 <= number && number <= 16) ||
(35 <= number && number <= 36);
}
void print_hex(const std::vector<uint8_t>& data) {
for (auto byte : data) {
std::cout << std::hex << std::uppercase << (int)byte << " ";
}
std::cout << std::dec << std::endl;
}
template <typename T>
T get_enum_by_index(int index) {
if (index >= 0 && index < static_cast<int>(T::COUNT)) {
return static_cast<T>(index);
}
return static_cast<T>(-1);
}
#endif // OPENARM_MOTOR_H_

472
openarm_hardware/src/motor_control.cpp
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@ -1,472 +0,0 @@
// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "openarm_hardware/motor_control.hpp"
#include "openarm_hardware/motor.hpp"
MotorControl::MotorControl(CANBus& canbus) : canbus_(canbus) {}
bool MotorControl::addMotor(Motor& motor) {
motors_map_[motor.SlaveID] = &motor;
if (motor.MasterID != 0) {
motors_map_[motor.MasterID] = &motor;
}
return true;
}
void MotorControl::enable(Motor& motor) {
controlCmd(motor, 0xFC);
sleep(0.3);
}
void MotorControl::disable(Motor& motor) {
controlCmd(motor, 0xFD);
sleep(0.3);
}
void MotorControl::set_zero_position(Motor& motor) {
controlCmd(motor, 0xFE);
sleep(0.3);
recv();
}
void MotorControl::controlMIT(Motor& motor, double kp, double kd, double q,
double dq, double tau) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlMIT ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t kp_uint = double_to_uint(kp, 0, 500, 12);
uint16_t kd_uint = double_to_uint(kd, 0, 5, 12);
int motor_index = static_cast<int>(motor.MotorType);
double Q_MAX = Limit_Param[motor_index][0];
double DQ_MAX = Limit_Param[motor_index][1];
double TAU_MAX = Limit_Param[motor_index][2];
uint16_t q_uint = double_to_uint(q, -Q_MAX, Q_MAX, 16);
uint16_t dq_uint = double_to_uint(dq, -DQ_MAX, DQ_MAX, 12);
uint16_t tau_uint = double_to_uint(tau, -TAU_MAX, TAU_MAX, 12);
std::array<uint8_t, 8> data = {
static_cast<uint8_t>((q_uint >> 8) & 0xFF),
static_cast<uint8_t>(q_uint & 0xFF),
static_cast<uint8_t>(dq_uint >> 4),
static_cast<uint8_t>(((dq_uint & 0xF) << 4) | ((kp_uint >> 8) & 0xF)),
static_cast<uint8_t>(kp_uint & 0xFF),
static_cast<uint8_t>(kd_uint >> 4),
static_cast<uint8_t>(((kd_uint & 0xF) << 4) | ((tau_uint >> 8) & 0xF)),
static_cast<uint8_t>(tau_uint & 0xFF)};
sendData(motor.SlaveID, data);
recv();
}
void MotorControl::controlMIT2(Motor& motor, double kp, double kd, double q,
double dq, double tau) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlMIT ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t kp_uint = double_to_uint(kp, 0, 500, 12);
uint16_t kd_uint = double_to_uint(kd, 0, 5, 12);
int motor_index = static_cast<int>(motor.MotorType);
double Q_MAX = Limit_Param[motor_index][0];
double DQ_MAX = Limit_Param[motor_index][1];
double TAU_MAX = Limit_Param[motor_index][2];
uint16_t q_uint = double_to_uint(q, -Q_MAX, Q_MAX, 16);
uint16_t dq_uint = double_to_uint(dq, -DQ_MAX, DQ_MAX, 12);
uint16_t tau_uint = double_to_uint(tau, -TAU_MAX, TAU_MAX, 12);
std::array<uint8_t, 8> data = {
static_cast<uint8_t>((q_uint >> 8) & 0xFF),
static_cast<uint8_t>(q_uint & 0xFF),
static_cast<uint8_t>(dq_uint >> 4),
static_cast<uint8_t>(((dq_uint & 0xF) << 4) | ((kp_uint >> 8) & 0xF)),
static_cast<uint8_t>(kp_uint & 0xFF),
static_cast<uint8_t>(kd_uint >> 4),
static_cast<uint8_t>(((kd_uint & 0xF) << 4) | ((tau_uint >> 8) & 0xF)),
static_cast<uint8_t>(tau_uint & 0xFF)};
sendData(motor.SlaveID, data);
}
void MotorControl::sendData(uint16_t motor_id,
const std::array<uint8_t, 8>& data) {
canbus_.send(motor_id, data);
}
void MotorControl::recv() {
uint16_t id;
uint8_t len;
std::array<uint8_t, 64> data = canbus_.recv(id, len);
if (canbus_.whichCAN() == CAN_MODE_CLASSIC) {
can_frame frame;
std::memset(&frame, 0, sizeof(frame));
frame.can_id = id;
frame.can_dlc = len;
std::memcpy(frame.data, data.data(), len);
processPacket(frame);
} else if (canbus_.whichCAN() == CAN_MODE_FD) {
canfd_frame fd_frame;
std::memset(&fd_frame, 0, sizeof(fd_frame));
fd_frame.can_id = id;
fd_frame.len = len;
std::memcpy(fd_frame.data, data.data(), len);
processPacketFD(fd_frame);
}
}
void MotorControl::control_delay(Motor& motor, double kp, double kd, double q,
double dq, double tau, double delay) {
controlMIT(motor, kp, kd, q, dq, tau);
std::this_thread::sleep_for(
std::chrono::milliseconds(static_cast<int>(delay)));
}
void MotorControl::controlPosVel(Motor& motor, double pos, double vel) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlPosVel ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x100 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
auto pos_buf = float_to_uint8s(static_cast<float>(pos));
for (int i = 0; i < 4; ++i) {
data_buf[i] = pos_buf[i];
data_buf[i + 4] = vel_buf[i];
}
sendData(motor_id, data_buf);
recv();
}
void MotorControl::controlPosVel2(Motor& motor, double pos, double vel) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlPosVel2 ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x100 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto pos_buf = float_to_uint8s(static_cast<float>(pos));
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
for (int i = 0; i < 4; ++i) {
data_buf[i] = pos_buf[i];
data_buf[i + 4] = vel_buf[i];
}
sendData(motor_id, data_buf);
}
void MotorControl::controlVel(Motor& motor, double vel) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlVel ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x200 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
for (int i = 0; i < 4; ++i) {
data_buf[i] = vel_buf[i];
}
sendData(motor_id, data_buf);
recv();
}
void MotorControl::controlVel2(Motor& motor, double vel) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlVel2 ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x200 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
for (int i = 0; i < 4; ++i) {
data_buf[i] = vel_buf[i];
}
sendData(motor_id, data_buf);
}
void MotorControl::controlPosForce(Motor& motor, double pos, double vel,
double tau) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlPosForce ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x300 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto pos_buf = float_to_uint8s(static_cast<float>(pos));
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
auto tau_buf = float_to_uint8s(static_cast<float>(tau));
for (int i = 0; i < 4; ++i) {
data_buf[i] = pos_buf[i];
}
data_buf[4] = vel_buf[0];
data_buf[5] = vel_buf[1];
data_buf[6] = tau_buf[0];
data_buf[7] = tau_buf[1];
sendData(motor_id, data_buf);
recv();
}
void MotorControl::controlPosForce2(Motor& motor, double pos, double vel,
double tau) {
if (motors_map_.find(motor.SlaveID) == motors_map_.end()) {
std::cerr << "controlPosForce ERROR: Motor ID not found" << std::endl;
return;
}
uint16_t motor_id = 0x300 + motor.SlaveID;
std::array<uint8_t, 8> data_buf = {0};
auto pos_buf = float_to_uint8s(static_cast<float>(pos));
auto vel_buf = float_to_uint8s(static_cast<float>(vel));
auto tau_buf = float_to_uint8s(static_cast<float>(tau));
for (int i = 0; i < 4; ++i) {
data_buf[i] = pos_buf[i];
}
data_buf[4] = vel_buf[0];
data_buf[5] = vel_buf[1];
data_buf[6] = tau_buf[0];
data_buf[7] = tau_buf[1];
sendData(motor_id, data_buf);
}
bool MotorControl::switchControlMode(Motor& motor, Control_Type control_mode) {
const int max_retries = 20;
const double retry_interval = 0.1;
DM_variable RID = DM_variable::CTRL_MODE;
writeMotorParam(motor, RID, static_cast<int>(control_mode));
for (int i = 0; i < max_retries; ++i) {
usleep(static_cast<useconds_t>(retry_interval * 1e6));
recv_set_param_data();
if (motor.getParam(static_cast<int>(RID)) ==
static_cast<int>(control_mode)) {
return true;
}
}
return false;
}
void MotorControl::save_motor_param(Motor& motor) {
std::array<uint8_t, 8> data = {
static_cast<uint8_t>(motor.SlaveID & 0xFF),
static_cast<uint8_t>((motor.SlaveID >> 8) & 0xFF),
0xAA,
0x00,
0x00,
0x00,
0x00,
0x00};
disable(motor);
canbus_.send(0x7FF, data);
usleep(1000);
}
// void MotorControl::change_limit_param(DM_Motor_Type motor_type, double PMAX,
// double VMAX, double TMAX) { int index = static_cast<int>(motor_type);
// Limit_Param[index][0] = PMAX;
// Limit_Param[index][1] = VMAX;
// Limit_Param[index][2] = TMAX;
// }
void MotorControl::recv_set_param_data() {
uint16_t id;
uint8_t len;
std::array<uint8_t, 64> data = canbus_.recv(id, len);
uint8_t cmd = 0x11;
if (len >= 8) {
std::cout << "CANID: 0x" << std::hex << id << ", CMD: 0x"
<< static_cast<int>(cmd) << std::dec << std::endl;
for (int i = 0; i < 8; ++i) {
std::cout << "0x" << std::hex << static_cast<int>(data[i]) << " ";
}
std::cout << std::dec << std::endl;
}
}
void MotorControl::processPacket(const can_frame& frame) {
uint16_t motorID = frame.data[0];
uint8_t cmd = 0x11; // someday fix
if (cmd == 0x11) {
if (motorID != 0x00) {
auto it = motors_map_.find(motorID);
if (it != motors_map_.end() && it->second) {
Motor* motor = it->second;
uint16_t q_uint = (frame.data[1] << 8) | frame.data[2];
uint16_t dq_uint = (frame.data[3] << 4) | (frame.data[4] >> 4);
uint16_t tau_uint = ((frame.data[4] & 0xf) << 8) | frame.data[5];
int t_mos = frame.data[6];
int t_rotor = frame.data[7];
double Q_MAX = Limit_Param[static_cast<int>(motor->MotorType)][0];
double DQ_MAX = Limit_Param[static_cast<int>(motor->MotorType)][1];
double TAU_MAX = Limit_Param[static_cast<int>(motor->MotorType)][2];
double recv_q = uint_to_double(q_uint, -Q_MAX, Q_MAX, 16);
double recv_dq = uint_to_double(dq_uint, -DQ_MAX, DQ_MAX, 12);
double recv_tau = uint_to_double(tau_uint, -TAU_MAX, TAU_MAX, 12);
motor->recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor);
}
} else {
uint16_t MasterID = frame.data[0] & 0x0F;
auto it = motors_map_.find(MasterID);
if (it != motors_map_.end() && it->second) {
Motor* motor = it->second;
uint16_t q_uint = (frame.data[1] << 8) | frame.data[2];
uint16_t dq_uint = (frame.data[3] << 4) | (frame.data[4] >> 4);
uint16_t tau_uint = ((frame.data[4] & 0xf) << 8) | frame.data[5];
int t_mos = frame.data[6];
int t_rotor = frame.data[7];
double Q_MAX = Limit_Param[static_cast<int>(motor->MotorType)][0];
double DQ_MAX = Limit_Param[static_cast<int>(motor->MotorType)][1];
double TAU_MAX = Limit_Param[static_cast<int>(motor->MotorType)][2];
double recv_q = uint_to_double(q_uint, -Q_MAX, Q_MAX, 16);
double recv_dq = uint_to_double(dq_uint, -DQ_MAX, DQ_MAX, 12);
double recv_tau = uint_to_double(tau_uint, -TAU_MAX, TAU_MAX, 12);
motor->recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor);
}
}
}
}
void MotorControl::processPacketFD(const canfd_frame& frame) {
uint16_t motorID = frame.data[0];
uint8_t cmd = 0x11; // someday fix
if (cmd == 0x11) {
if (motorID != 0x00) {
auto it = motors_map_.find(motorID);
if (it != motors_map_.end() && it->second) {
Motor* motor = it->second;
uint16_t q_uint = (frame.data[1] << 8) | frame.data[2];
uint16_t dq_uint = (frame.data[3] << 4) | (frame.data[4] >> 4);
uint16_t tau_uint = ((frame.data[4] & 0xf) << 8) | frame.data[5];
int t_mos = frame.data[6];
int t_rotor = frame.data[7];
double Q_MAX = Limit_Param[static_cast<int>(motor->MotorType)][0];
double DQ_MAX = Limit_Param[static_cast<int>(motor->MotorType)][1];
double TAU_MAX = Limit_Param[static_cast<int>(motor->MotorType)][2];
double recv_q = uint_to_double(q_uint, -Q_MAX, Q_MAX, 16);
double recv_dq = uint_to_double(dq_uint, -DQ_MAX, DQ_MAX, 12);
double recv_tau = uint_to_double(tau_uint, -TAU_MAX, TAU_MAX, 12);
motor->recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor);
}
} else {
uint16_t MasterID = frame.data[0] & 0x0F;
auto it = motors_map_.find(MasterID);
if (it != motors_map_.end() && it->second) {
Motor* motor = it->second;
uint16_t q_uint = (frame.data[1] << 8) | frame.data[2];
uint16_t dq_uint = (frame.data[3] << 4) | (frame.data[4] >> 4);
uint16_t tau_uint = ((frame.data[4] & 0xf) << 8) | frame.data[5];
int t_mos = frame.data[6];
int t_rotor = frame.data[7];
double Q_MAX = Limit_Param[static_cast<int>(motor->MotorType)][0];
double DQ_MAX = Limit_Param[static_cast<int>(motor->MotorType)][1];
double TAU_MAX = Limit_Param[static_cast<int>(motor->MotorType)][2];
double recv_q = uint_to_double(q_uint, -Q_MAX, Q_MAX, 16);
double recv_dq = uint_to_double(dq_uint, -DQ_MAX, DQ_MAX, 12);
double recv_tau = uint_to_double(tau_uint, -TAU_MAX, TAU_MAX, 12);
motor->recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor);
}
}
}
}
void MotorControl::controlCmd(Motor& motor, uint8_t cmd) {
std::array<uint8_t, 8> data_buf = {0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, cmd};
sendData(motor.SlaveID, data_buf);
}
void MotorControl::readRIDParam(Motor& motor, DM_variable RID) {
std::array<uint8_t, 8> data = {
static_cast<uint8_t>(motor.SlaveID & 0xFF),
static_cast<uint8_t>((motor.SlaveID >> 8) & 0xFF),
0x33,
static_cast<uint8_t>(RID),
0x00,
0x00,
0x00,
0x00};
canbus_.send(0x7FF, data);
}
void MotorControl::writeMotorParam(Motor& motor, DM_variable RID,
double value) {
std::array<uint8_t, 8> data = {
static_cast<uint8_t>(motor.SlaveID & 0xFF),
static_cast<uint8_t>((motor.SlaveID >> 8) & 0xFF), 0x55,
static_cast<uint8_t>(RID)};
if (is_in_ranges(static_cast<int>(RID))) {
auto intData = data_to_uint8s(static_cast<uint32_t>(value));
std::copy(intData.begin(), intData.end(), data.begin() + 4);
} else {
auto doubleData = double_to_uint8s(value);
std::copy(doubleData.begin(), doubleData.end(), data.begin() + 4);
}
canbus_.send(0x7FF, data);
}

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openarm_hardware/src/openarm_hardware.cpp
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// Copyright 2025 Reazon Holdings, Inc.
// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "openarm_hardware/openarm_hardware.hpp"
#include <limits>
#include <vector>
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/rclcpp.hpp"
namespace openarm_hardware {
static const std::string& can_device_name = "can0";
OpenArmHW::OpenArmHW() = default;
hardware_interface::CallbackReturn OpenArmHW::on_init(
const hardware_interface::HardwareInfo& info) {
if (hardware_interface::SystemInterface::on_init(info) !=
CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}
// read hardware parameters
if (info.hardware_parameters.find("can_device") ==
info.hardware_parameters.end()) {
RCLCPP_ERROR(rclcpp::get_logger("OpenArmHW"),
"No can_device parameter found");
return CallbackReturn::ERROR;
}
auto it = info.hardware_parameters.find("prefix");
if (it == info.hardware_parameters.end()) {
prefix_ = "";
} else {
prefix_ = it->second;
}
it = info.hardware_parameters.find("disable_torque");
if (it == info.hardware_parameters.end()) {
disable_torque_ = false;
} else {
disable_torque_ = it->second == "true";
}
// temp CANFD
canbus_ = std::make_unique<CANBus>(info.hardware_parameters.at("can_device"),
CAN_MODE_FD);
motor_control_ = std::make_unique<MotorControl>(*canbus_);
if (USING_GRIPPER) {
motor_types.emplace_back(DM_Motor_Type::DM4310);
can_device_ids.emplace_back(0x08);
can_master_ids.emplace_back(0x18);
++curr_dof;
}
motors_.resize(curr_dof);
for (size_t i = 0; i < curr_dof; ++i) {
motors_[i] = std::make_unique<Motor>(motor_types[i], can_device_ids[i],
can_master_ids[i]);
motor_control_->addMotor(*motors_[i]);
}
pos_states_.resize(curr_dof, 0.0);
pos_commands_.resize(curr_dof, 0.0);
vel_states_.resize(curr_dof, 0.0);
vel_commands_.resize(curr_dof, 0.0);
tau_states_.resize(curr_dof, 0.0);
tau_ff_commands_.resize(curr_dof, 0.0);
refresh_motors();
read(rclcpp::Time(0), rclcpp::Duration(0, 0));
return CallbackReturn::SUCCESS;
}
hardware_interface::CallbackReturn OpenArmHW::on_configure(
const rclcpp_lifecycle::State& /*previous_state*/) {
read(rclcpp::Time(0), rclcpp::Duration(0, 0));
// zero position or calibrate to pose
// for (std::size_t i = 0; i < curr_dof; ++i)
// {
// motor_control_->set_zero_position(*motors_[i]);
// }
return CallbackReturn::SUCCESS;
}
std::vector<hardware_interface::StateInterface>
OpenArmHW::export_state_interfaces() {
std::vector<hardware_interface::StateInterface> state_interfaces;
for (size_t i = 0; i < curr_dof; ++i) {
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_POSITION,
&pos_states_[i]));
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY,
&vel_states_[i]));
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_EFFORT,
&tau_states_[i]));
RCLCPP_INFO(rclcpp::get_logger("OpenArmHW"),
"Exporting state interface for joint %s",
info_.joints[i].name.c_str());
}
return state_interfaces;
}
std::vector<hardware_interface::CommandInterface>
OpenArmHW::export_command_interfaces() {
std::vector<hardware_interface::CommandInterface> command_interfaces;
for (size_t i = 0; i < curr_dof; ++i) {
command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_POSITION,
&pos_commands_[i]));
command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY,
&vel_commands_[i]));
command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_EFFORT,
&tau_ff_commands_[i]));
}
return command_interfaces;
}
void OpenArmHW::refresh_motors() {
for (const auto& motor : motors_) {
motor_control_->controlMIT(*motor, 0.0, 0.0, 0.0, 0.0, 0.0);
}
}
hardware_interface::CallbackReturn OpenArmHW::on_activate(
const rclcpp_lifecycle::State& /*previous_state*/) {
read(rclcpp::Time(0), rclcpp::Duration(0, 0));
bool zeroed = false;
for (const auto& motor : motors_) {
motor_control_->enable(*motor);
}
while (!zeroed) {
bool all_zero = true;
for (std::size_t m = 0; m < curr_dof; ++m) {
const double diff = pos_commands_[m] - pos_states_[m];
if (std::abs(diff) > START_POS_TOLERANCE_RAD) {
all_zero = false;
}
const double max_step = std::min(POS_JUMP_TOLERANCE_RAD, std::abs(diff));
double command = pos_states_[m];
if (pos_states_[m] < pos_commands_[m]) {
command += max_step;
} else {
command -= max_step;
}
motor_control_->controlMIT(*motors_[m], KP[m], KD[m], command, 0.0, 0.0);
}
if (all_zero) {
zeroed = true;
} else {
sleep(0.01);
read(rclcpp::Time(0), rclcpp::Duration(0, 0));
}
}
read(rclcpp::Time(0), rclcpp::Duration(0, 0));
return CallbackReturn::SUCCESS;
}
hardware_interface::CallbackReturn OpenArmHW::on_deactivate(
const rclcpp_lifecycle::State& /*previous_state*/) {
refresh_motors();
for (const auto& motor : motors_) {
motor_control_->disable(*motor);
}
return CallbackReturn::SUCCESS;
}
hardware_interface::return_type OpenArmHW::read(
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
for (size_t i = 0; i < ARM_DOF; ++i) {
pos_states_[i] = motors_[i]->getPosition();
vel_states_[i] = motors_[i]->getVelocity();
tau_states_[i] = motors_[i]->getTorque();
}
if (USING_GRIPPER) {
pos_states_[GRIPPER_INDEX] = -motors_[GRIPPER_INDEX]->getPosition() *
GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER;
vel_states_[GRIPPER_INDEX] = motors_[GRIPPER_INDEX]->getVelocity() *
GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER;
tau_states_[GRIPPER_INDEX] = motors_[GRIPPER_INDEX]->getTorque() *
GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER;
}
return hardware_interface::return_type::OK;
}
hardware_interface::return_type OpenArmHW::write(
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
if (disable_torque_) {
// refresh motor state on write
for (size_t i = 0; i < curr_dof; ++i) {
motor_control_->controlMIT(*motors_[i], 0.0, 0.0, 0.0, 0.0, 0.0);
return hardware_interface::return_type::OK;
}
}
for (size_t i = 0; i < ARM_DOF; ++i) {
if (std::abs(pos_commands_[i] - pos_states_[i]) > POS_JUMP_TOLERANCE_RAD) {
RCLCPP_ERROR(rclcpp::get_logger("OpenArmHW"),
"Position jump detected for joint %s: %f -> %f",
info_.joints[i].name.c_str(), pos_states_[i],
pos_commands_[i]);
return hardware_interface::return_type::ERROR;
}
motor_control_->controlMIT(*motors_[i], KP.at(i), KD.at(i),
pos_commands_[i], vel_commands_[i],
tau_ff_commands_[i]);
}
if (USING_GRIPPER) {
motor_control_->controlMIT(
*motors_[GRIPPER_INDEX], KP.at(GRIPPER_INDEX), KD.at(GRIPPER_INDEX),
-pos_commands_[GRIPPER_INDEX] / GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER,
vel_commands_[GRIPPER_INDEX] / GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER,
tau_ff_commands_[GRIPPER_INDEX] / GRIPPER_REFERENCE_GEAR_RADIUS_M *
GRIPPER_GEAR_DIRECTION_MULTIPLIER);
}
return hardware_interface::return_type::OK;
}
} // namespace openarm_hardware
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(openarm_hardware::OpenArmHW,
hardware_interface::SystemInterface)

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// Copyright 2025 Reazon Holdings, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "openarm_hardware/v10_simple_hardware.hpp"
#include <algorithm>
#include <cctype>
#include <chrono>
#include <thread>
#include <vector>
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/rclcpp.hpp"
namespace openarm_hardware {
OpenArm_v10HW::OpenArm_v10HW() = default;
bool OpenArm_v10HW::parse_config(const hardware_interface::HardwareInfo& info) {
// Parse CAN interface (default: can0)
auto it = info.hardware_parameters.find("can_interface");
can_interface_ = (it != info.hardware_parameters.end()) ? it->second : "can0";
// Parse arm prefix (default: empty for single arm, "left_" or "right_" for
// bimanual)
it = info.hardware_parameters.find("arm_prefix");
arm_prefix_ = (it != info.hardware_parameters.end()) ? it->second : "";
// Parse gripper enable (default: true for V10)
it = info.hardware_parameters.find("hand");
if (it == info.hardware_parameters.end()) {
hand_ = true; // Default to true for V10
} else {
// Handle both "true"/"True" and "false"/"False"
std::string value = it->second;
std::transform(value.begin(), value.end(), value.begin(), ::tolower);
hand_ = (value == "true");
}
// Parse CAN-FD enable (default: true for V10)
it = info.hardware_parameters.find("can_fd");
if (it == info.hardware_parameters.end()) {
can_fd_ = true; // Default to true for V10
} else {
// Handle both "true"/"True" and "false"/"False"
std::string value = it->second;
std::transform(value.begin(), value.end(), value.begin(), ::tolower);
can_fd_ = (value == "true");
}
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Configuration: CAN=%s, arm_prefix=%s, hand=%s, can_fd=%s",
can_interface_.c_str(), arm_prefix_.c_str(),
hand_ ? "enabled" : "disabled", can_fd_ ? "enabled" : "disabled");
return true;
}
void OpenArm_v10HW::generate_joint_names() {
joint_names_.clear();
// TODO: read from urdf properly in the future
// Generate arm joint names: openarm_{arm_prefix}joint{N}
for (size_t i = 1; i <= ARM_DOF; ++i) {
std::string joint_name =
"openarm_" + arm_prefix_ + "joint" + std::to_string(i);
joint_names_.push_back(joint_name);
}
// Generate gripper joint name if enabled
if (hand_) {
std::string gripper_joint_name = "openarm_" + arm_prefix_ + "finger_joint1";
joint_names_.push_back(gripper_joint_name);
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "Added gripper joint: %s",
gripper_joint_name.c_str());
} else {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Gripper joint NOT added because hand_=false");
}
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Generated %zu joint names for arm prefix '%s'",
joint_names_.size(), arm_prefix_.c_str());
}
hardware_interface::CallbackReturn OpenArm_v10HW::on_init(
const hardware_interface::HardwareInfo& info) {
if (hardware_interface::SystemInterface::on_init(info) !=
CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}
// Parse configuration
if (!parse_config(info)) {
return CallbackReturn::ERROR;
}
// Generate joint names based on arm prefix
generate_joint_names();
// Validate joint count (7 arm joints + optional gripper)
size_t expected_joints = ARM_DOF + (hand_ ? 1 : 0);
if (joint_names_.size() != expected_joints) {
RCLCPP_ERROR(rclcpp::get_logger("OpenArm_v10HW"),
"Generated %zu joint names, expected %zu", joint_names_.size(),
expected_joints);
return CallbackReturn::ERROR;
}
// Initialize OpenArm with configurable CAN-FD setting
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Initializing OpenArm on %s with CAN-FD %s...",
can_interface_.c_str(), can_fd_ ? "enabled" : "disabled");
openarm_ =
std::make_unique<openarm::can::socket::OpenArm>(can_interface_, can_fd_);
// Initialize arm motors with V10 defaults
openarm_->init_arm_motors(DEFAULT_MOTOR_TYPES, DEFAULT_SEND_CAN_IDS,
DEFAULT_RECV_CAN_IDS);
// Initialize gripper if enabled
if (hand_) {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "Initializing gripper...");
openarm_->init_gripper_motor(DEFAULT_GRIPPER_MOTOR_TYPE,
DEFAULT_GRIPPER_SEND_CAN_ID,
DEFAULT_GRIPPER_RECV_CAN_ID);
}
// Initialize state and command vectors based on generated joint count
const size_t total_joints = joint_names_.size();
pos_commands_.resize(total_joints, 0.0);
vel_commands_.resize(total_joints, 0.0);
tau_commands_.resize(total_joints, 0.0);
pos_states_.resize(total_joints, 0.0);
vel_states_.resize(total_joints, 0.0);
tau_states_.resize(total_joints, 0.0);
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"OpenArm V10 Simple HW initialized successfully");
return CallbackReturn::SUCCESS;
}
hardware_interface::CallbackReturn OpenArm_v10HW::on_configure(
const rclcpp_lifecycle::State& /*previous_state*/) {
// Set callback mode to ignore during configuration
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::IGNORE);
openarm_->refresh_all();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
openarm_->recv_all();
return CallbackReturn::SUCCESS;
}
std::vector<hardware_interface::StateInterface>
OpenArm_v10HW::export_state_interfaces() {
std::vector<hardware_interface::StateInterface> state_interfaces;
for (size_t i = 0; i < joint_names_.size(); ++i) {
state_interfaces.emplace_back(hardware_interface::StateInterface(
joint_names_[i], hardware_interface::HW_IF_POSITION, &pos_states_[i]));
state_interfaces.emplace_back(hardware_interface::StateInterface(
joint_names_[i], hardware_interface::HW_IF_VELOCITY, &vel_states_[i]));
state_interfaces.emplace_back(hardware_interface::StateInterface(
joint_names_[i], hardware_interface::HW_IF_EFFORT, &tau_states_[i]));
}
return state_interfaces;
}
std::vector<hardware_interface::CommandInterface>
OpenArm_v10HW::export_command_interfaces() {
std::vector<hardware_interface::CommandInterface> command_interfaces;
for (size_t i = 0; i < joint_names_.size(); ++i) {
command_interfaces.emplace_back(hardware_interface::CommandInterface(
joint_names_[i], hardware_interface::HW_IF_POSITION,
&pos_commands_[i]));
command_interfaces.emplace_back(hardware_interface::CommandInterface(
joint_names_[i], hardware_interface::HW_IF_VELOCITY,
&vel_commands_[i]));
command_interfaces.emplace_back(hardware_interface::CommandInterface(
joint_names_[i], hardware_interface::HW_IF_EFFORT, &tau_commands_[i]));
}
return command_interfaces;
}
hardware_interface::CallbackReturn OpenArm_v10HW::on_activate(
const rclcpp_lifecycle::State& /*previous_state*/) {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "Activating OpenArm V10...");
// Set callback mode to state and enable all motors (like full_arm.cpp)
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::STATE);
openarm_->enable_all();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
openarm_->recv_all();
// Return to zero position smoothly
return_to_zero();
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "OpenArm V10 activated");
return CallbackReturn::SUCCESS;
}
hardware_interface::CallbackReturn OpenArm_v10HW::on_deactivate(
const rclcpp_lifecycle::State& /*previous_state*/) {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Deactivating OpenArm V10...");
// Disable all motors (like full_arm.cpp exit)
openarm_->disable_all();
openarm_->recv_all();
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "OpenArm V10 deactivated");
return CallbackReturn::SUCCESS;
}
hardware_interface::return_type OpenArm_v10HW::read(
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
// Receive all motor states
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::STATE);
openarm_->recv_all();
std::this_thread::sleep_for(std::chrono::microseconds(300));
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::IGNORE);
// Read arm joint states
const auto& arm_motors = openarm_->get_arm().get_motors();
for (size_t i = 0; i < ARM_DOF && i < arm_motors.size(); ++i) {
pos_states_[i] = arm_motors[i].get_position();
vel_states_[i] = arm_motors[i].get_velocity();
tau_states_[i] = arm_motors[i].get_torque();
}
// Read gripper state if enabled
if (hand_ && joint_names_.size() > ARM_DOF) {
const auto& gripper_motors = openarm_->get_gripper().get_motors();
if (!gripper_motors.empty()) {
// TODO the mappings are unimplemented, need to actually implement the
// mappings for pos, vel, tau Convert motor position (radians) to joint
// value (0-1)
double motor_pos = gripper_motors[0].get_position();
pos_states_[ARM_DOF] = motor_radians_to_joint(motor_pos);
// Velocity and torque can be passed through directly for now
vel_states_[ARM_DOF] = 0; // gripper_motors[0].get_velocity();
tau_states_[ARM_DOF] = 0; // gripper_motors[0].get_torque();
}
}
return hardware_interface::return_type::OK;
}
hardware_interface::return_type OpenArm_v10HW::write(
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
// Control arm motors with MIT control
std::vector<openarm::damiao_motor::MITParam> arm_params;
for (size_t i = 0; i < ARM_DOF; ++i) {
arm_params.push_back({DEFAULT_KP[i], DEFAULT_KD[i], pos_commands_[i],
vel_commands_[i], tau_commands_[i]});
}
openarm_->get_arm().mit_control_all(arm_params);
// Control gripper if enabled
if (hand_ && joint_names_.size() > ARM_DOF) {
// Convert joint value (0-1) to motor position (radians)
double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]);
openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}});
}
std::this_thread::sleep_for(std::chrono::microseconds(300));
openarm_->recv_all();
return hardware_interface::return_type::OK;
}
void OpenArm_v10HW::return_to_zero() {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Returning to zero position...");
// Return arm to zero with MIT control
std::vector<openarm::damiao_motor::MITParam> arm_params;
for (size_t i = 0; i < ARM_DOF; ++i) {
arm_params.push_back({DEFAULT_KP[i], DEFAULT_KD[i], 0.0, 0.0, 0.0});
}
openarm_->get_arm().mit_control_all(arm_params);
// Return gripper to zero if enabled
if (hand_) {
openarm_->get_gripper().mit_control_all({{5.0, 1.0, 0.0, 0.0, 0.0}});
}
// // Wait for motors to settle
std::this_thread::sleep_for(std::chrono::milliseconds(100));
openarm_->recv_all();
}
// Gripper mapping helper functions
double OpenArm_v10HW::joint_to_motor_radians(double joint_value) {
// Joint 0=closed -> motor 0 rad, Joint 1=open -> motor -1.0472 rad
return joint_value * (-1.0472); // Scale from 0-1 to 0 to -1.0472
}
double OpenArm_v10HW::motor_radians_to_joint(double motor_radians) {
// Motor 0 rad=closed -> joint 0, Motor -1.0472 rad=open -> joint 1
return motor_radians / (-1.0472); // Scale from 0 to -1.0472 to 0-1
}
} // namespace openarm_hardware
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(openarm_hardware::OpenArm_v10HW,
hardware_interface::SystemInterface)

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// Copyright 2025 Reazon Holdings, Inc.
// Copyright 2025 Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gmock/gmock.h>
#include <string>
#include "hardware_interface/resource_manager.hpp"
#include "ros2_control_test_assets/components_urdfs.hpp"
#include "ros2_control_test_assets/descriptions.hpp"
class TestOpenArmHW : public ::testing::Test {
protected:
void SetUp() override {
openarm_hardware_7dof_ =
R"(
<ros2_control name="OpenArmHW7DOF" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
<plugin>openarm_hardware/OpenArmHW</plugin>
</hardware>
<joint name="rev1">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev2">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev3">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev4">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev5">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev6">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="rev7">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="gripper">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="gripper_mimic">
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
</ros2_control>
)";
}
std::string openarm_hardware_7dof_;
};
TEST_F(TestOpenArmHW, load_openarm_hardware_7dof) {
auto urdf = ros2_control_test_assets::urdf_head + openarm_hardware_7dof_ +
ros2_control_test_assets::urdf_tail;
ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
}