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Add support for disabling torque via hardware parameter #106

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Add support for disabling torque via hardware parameter #106

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3 changes: 2 additions & 1 deletion dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,8 @@ class DynamixelHardware : public hardware_interface::SystemInterface
std::map<const char * const, const ControlItem *> control_items_;
std::vector<Joint> joints_;
std::vector<uint8_t> joint_ids_;
bool torque_enabled_{false};
bool should_enable_torque_{false}; // True if torque should be enabled. False otherwise.
bool torque_enabled_{false}; // True if torque is enabled. False otherwise.
ControlMode control_mode_{ControlMode::Position};
bool mode_changed_{false};
bool use_dummy_{false};
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17 changes: 14 additions & 3 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,15 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
return CallbackReturn::SUCCESS;
}

if (
info_.hardware_parameters.find("enable_torque") != info_.hardware_parameters.end() &&
info_.hardware_parameters.at("enable_torque") == "false")
{
should_enable_torque_ = false;
} else {
should_enable_torque_ = true;
}

auto usb_port = info_.hardware_parameters.at("usb_port");
auto baud_rate = std::stoi(info_.hardware_parameters.at("baud_rate"));
const char * log = nullptr;
Expand All @@ -104,7 +113,9 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
enable_torque(false);
set_control_mode(ControlMode::Position, true);
set_joint_params();
enable_torque(true);
if (should_enable_torque_) {
enable_torque(true);
}

const ControlItem * goal_position =
dynamixel_workbench_.getItemInfo(joint_ids_[0], kGoalPositionItem);
Expand Down Expand Up @@ -410,7 +421,7 @@ return_type DynamixelHardware::set_control_mode(const ControlMode & mode, const
control_mode_ = ControlMode::Velocity;
}

if (torque_enabled) {
if (torque_enabled && should_enable_torque_) {
enable_torque(true);
}
return return_type::OK;
Expand All @@ -434,7 +445,7 @@ return_type DynamixelHardware::set_control_mode(const ControlMode & mode, const
control_mode_ = ControlMode::Position;
}

if (torque_enabled) {
if (torque_enabled && should_enable_torque_) {
enable_torque(true);
}
return return_type::OK;
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