Thanks alot! It makes perfect sense! Thing is that the other interfaces
were like this so I didn't really think about this!
Mihai
Nate Koenig wrote:
> 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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