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fixed bug torque_controller #45

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fixed bug torque_controller #45

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8 changes: 6 additions & 2 deletions dynamixel_controllers/src/dynamixel_controllers/joint_torque_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,12 +116,16 @@ def spd_rad_to_raw(self, spd_rad):

def set_torque_enable(self, torque_enable):
mcv = (self.motor_id, torque_enable)
self.dxl_io.set_multi_torque_enabled([mcv])
self.dxl_io.set_multi_torque_enabled([mcv])

@dbolkensteyn dbolkensteyn Jan 13, 2017

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useless change


def set_speed(self, speed):
mcv = (self.motor_id, self.spd_rad_to_raw(speed))
self.dxl_io.set_multi_speed([mcv])

def set_goal_torque(self,torque):
print torque
self.dxl_io.set_goal_torque(self.motor_id, int(torque))

def set_compliance_slope(self, slope):
if slope < DXL_MIN_COMPLIANCE_SLOPE: slope = DXL_MIN_COMPLIANCE_SLOPE
elif slope > DXL_MAX_COMPLIANCE_SLOPE: slope = DXL_MAX_COMPLIANCE_SLOPE
Expand Down Expand Up @@ -166,5 +170,5 @@ def process_motor_states(self, state_list):
self.joint_state_pub.publish(self.joint_state)

def process_command(self, msg):
self.set_speed(msg.data)
self.set_goal_torque(msg.data)

@dbolkensteyn dbolkensteyn Jan 13, 2017 •
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Looks like this is a feature, not a bug.
Step 4 of the torque mode tutorial clearly states To actually move the motor we need to publish a desired velocity to /pan_controller/command (the keyword being velocity).

Moreover this change breaks compatibility for existing users: it is probably safer to change the name of this controller from torque to velocity and add a new one that really controls the torque.