Hello,
I finally figured out the problem. All of the interfaces were
calculating an incorrect size. To fix your code change:
public: ActarrayIface():Iface("actarray", sizeof(ActarrayIface)) {}
to
public: ActarrayIface():Iface("actarray",
sizeof(ActarrayIface)+sizeof(gzActarrayData)) {}
That should make everything work smoothly.
-nate
On 5/18/07, Mihai Emanuel Dolha <[EMAIL PROTECTED]> wrote:
> Hi!
> Here is the code I added in gazebo.h
>
>
> /***************************************************************************/
> // ACTARRAY
> INTERFACE //
>
> //maximum number of actuators
> #define GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS 16
>
>
> // @brief Actuator geometry
> class gzActarrayActuatorGeom
> {
> //The type of the actuator - linear or rotary.
> uint8_t type;
> // The range of motion of the actuator, in m or rad depending on
> the type.
> float min;
> // The range of motion of the actuator, in m or rad depending on
> the type.
> float centre;
> // The range of motion of the actuator, in m or rad depending on
> the type.
> float max;
> // The range of motion of the actuator, in m or rad depending on
> the type.
> float home;
> // The configured speed setting of the actuator - different from
> current speed.
> float config_speed;
> // The maximum achievable speed of the actuator.
> float max_speed;
> // If the actuator has brakes or not.
> uint8_t hasbrakes;
> };
>
> // @brief Structure containing a single actuator's information
> class gzActarrayActuator
> {
> // The position of the actuator in m or rad depending on the type.
> public: float position;
> // The speed of the actuator in m/s or rad/s depending on the type.
> public: float speed;
> // The current state of the actuator.
> public: uint8_t state;
>
> };
>
> // The actuator array data packet.
> class gzActarrayData
> {
> // The number of actuators in the array.
> public: unsigned int actuators_count;
>
> //timestamp
> public: double time;
>
> // The actuator data.
> public: gzActarrayActuator
> actuators[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS];
>
> // The actuators geoms
> public: gzActarrayActuatorGeom
> actuator_geoms[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS];
>
> //position commands
> public: float cmd_pos[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS];
>
> //speed commands
> public: float cmd_speed[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS];
>
> // bad command flag - (speed to high set for the actuators or
> position not reachable)
> public: int bad_cmd;
>
> //position / speed comand
> public: unsigned int joint_mode[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS];
>
> };
>
> //!The Actarray interface
> class ActarrayIface : public Iface
> {
> public: ActarrayIface():Iface("actarray", sizeof(ActarrayIface)) {}
> public: virtual ~ActarrayIface() {this->data = NULL;}
>
> public: virtual int Create(Server *server, const char *id)
> {
> int result = Iface::Create(server,id);
> this->data = (gzActarrayData*)this->mMap;
> return result;}
>
> public: virtual int Open(Client *client, const char *id)
> {int result = Iface::Open(client,id);
> this->data = (gzActarrayData*)this->mMap;
> return result;}
>
> public: gzActarrayData *data;
> };
>
> // END ACTARRAY INTERFACE
>
> /***************************************************************************/
>
>
>
>
> Nate Koenig wrote:
> > Hello,
> >
> > Could you post your actarray code, and I'll take a look at it?
> >
> > Thanks,
> > -nate
> >
> > On 5/15/07, Mihai Emanuel Dolha <[EMAIL PROTECTED]> wrote:
> >
> >> Hi!
> >>
> >> I implemented the actarray interface in the SVN Gazebo and I'm using it
> >> to control a robot model I made. Things are working pretty well with one
> >> exception: sometimes the commands that my client writes on the interface
> >> are replaced by 0 , and my robot stops. My client is not rewriting the
> >> interface and I couldn't find who is.
> >>
> >> Does anybody who is using or working on this version have a clue?
> >>
> >> Thanks,
> >>
> >> Mihai
> >>
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