id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
hardware_control/resourcemanagercpp_135.txt | write_components(resource_storage_->actuators_);
write_components(resource_storage_->systems_); | |
hardware_control/resourcemanagercpp_27.txt | if (result)
{
remove_all_hardware_interfaces_from_available_list(hardware.get_name());
}
return result;
} | |
hardware_control/25749_4.txt | [ pbnpama ](https://get-help.theconstruct.ai/u/pbnpama) August 8, 2023,
7:53pm 1 | |
hardware_control/resourcemanagercpp_24.txt | if (found_it != available_command_interfaces_.end())
{
available_command_interfaces_.erase(found_it);
RCUTILS_LOG_DEBUG_NAMED(
"resource_manager", "(hardware '%s'): '%s' command interface removed from available list",
hardware_name.c_str(), interface.c_str());
}
... | |
hardware_control/1240_11.txt | [ hardware_interface/test/mock_components/test_generic_system.cpp ](/ros-
controls/ros2_control/pull/1240/files#diff-
ae74c2bfe940cd637f580a53348b04d33ef4514d4b225b73b82927702f0dca39) Show
resolved Hide resolved
[ hardware_interface/test/test_component_interfaces.cpp ](/ros-
controls/ros2_control/pull/1240/files#diff-... | |
hardware_control/resourcemanagercpp_11.txt | template <class HardwareT, class HardwareInterfaceT>
void load_hardware(
const HardwareInfo & hardware_info, pluginlib::ClassLoader<HardwareInterfaceT> & loader,
std::vector<HardwareT> & container)
{
RCUTILS_LOG_INFO_NAMED(
"resource_manager", "Loading hardware '%s' ", hardware_info.name.c_str()... | |
hardware_control/resourcemanagercpp_28.txt | template <class HardwareT>
bool shutdown_hardware(HardwareT & hardware)
{
bool result = trigger_and_print_hardware_state_transition(
std::bind(&HardwareT::shutdown, &hardware), "shutdown", hardware.get_name(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED); | |
hardware_control/resourcemanagercpp_83.txt | // CM API: Called in "update"-thread (indirectly through `claim_state_interface`)
bool ResourceManager::state_interface_is_available(const std::string & name) const
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
return std::find(
resource_storage_->available_state_interfaces_.b... | |
hardware_control/resourcemanagercpp_91.txt | // CM API: Called in "callback/slow"-thread
void ResourceManager::cache_controller_to_hardware(
const std::string & controller_name, const std::vector<std::string> & interfaces)
{
for (const auto & interface : interfaces)
{
bool found = false;
for (const auto & [hw_name, hw_info] : resource_storage_->hard... | |
hardware_control/resourcemanagercpp_98.txt | resource_storage_->claimed_command_interface_map_[key] = true;
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
return LoanedCommandInterface(
resource_storage_->command_interface_map_.at(key),
std::bind(&ResourceManager::release_command_interface, this, key));
} | |
hardware_control/resourcemanagercpp_36.txt | bool result = false; | |
hardware_control/resourcemanagercpp_54.txt | if (hardware_info.is_async)
{
init_actuators(async_actuators_);
}
else
{
init_actuators(actuators_);
}
} | |
hardware_control/1240_0.txt | Skip to content
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hardware_control/resourcemanagercpp_29.txt | if (result)
{
remove_all_hardware_interfaces_from_available_list(hardware.get_name());
async_component_threads_.erase(hardware.get_name());
// TODO(destogl): change this - deimport all things if there is there are interfaces there
// deimport_non_movement_command_interfaces(hardware);
... | |
hardware_control/resourcemanagercpp_150.txt | } // namespace hardware_interface | |
hardware_control/resourcemanagercpp_148.txt | throw std::runtime_error(err_msg);
}
} | |
hardware_control/classhardwareinterfa_3.txt | Inheritance diagram for hardware_interface::StateInterface: | |
hardware_control/1240_22.txt | The reason will be displayed to describe this comment to others. [ Learn more
](https://docs.github.com/articles/managing-disruptive-comments/#hiding-a-
comment) .
Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Hide
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Can we find any alternative name?
Sorry, something went wrong.
All reac... | |
hardware_control/resourcemanagercpp_3.txt | #include "hardware_interface/actuator.hpp"
#include "hardware_interface/actuator_interface.hpp"
#include "hardware_interface/async_components.hpp"
#include "hardware_interface/component_parser.hpp"
#include "hardware_interface/hardware_component_info.hpp"
#include "hardware_interface/sensor.hpp"
#include "hardware_inte... | |
hardware_control/resourcemanagercpp_104.txt | void ResourceManager::import_component(
std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info)
{
std::lock_guard<std::recursive_mutex> guard(resources_lock_);
resource_storage_->initialize_sensor(std::move(sensor), hardware_info);
read_write_status.failed_hardware_names.reserve(
resour... | |
hardware_control/classhardwareinterfa_1.txt | Public Member Functions | [ List of all members
](classhardware__interface_1_1StateInterface-members.html) | |
hardware_control/1240_16.txt | rather than ` map ` . They tend to use a bit more or memory, but performance-
wise they are much better.
if you have a different opinion on this, we can discuss
---
All reactions
Sorry, something went wrong.
[
![@mamueluth](https://avatars.githubusercontent.com/u/19118679?s=80&u=f81462164d8259aace7a7f80ef76fd... | |
hardware_control/resourcemanagercpp_99.txt | // CM API: Called in "update"-thread
void ResourceManager::release_command_interface(const std::string & key)
{
std::lock_guard<std::recursive_mutex> guard_claimed(claimed_command_interfaces_lock_);
resource_storage_->claimed_command_interface_map_[key] = false;
} | |
hardware_control/25749_18.txt | }
for (uint i = 0; i < joint_ids_.size(); ++i) {
if (!dynamixel_workbench_.setPositionControlMode(joint_ids_[i], &log)) {
RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
return return_type::ERROR;
}
}
RCLCPP_INFO(rclcpp::g... | |
hardware_control/resourcemanagercpp_71.txt | ResourceManager::~ResourceManager() = default; | |
hardware_control/resourcemanagercpp_46.txt | void check_for_duplicates(const HardwareInfo & hardware_info)
{
// Check for identical names
if (hardware_info_map_.find(hardware_info.name) != hardware_info_map_.end())
{
throw std::runtime_error(
"Hardware name " + hardware_info.name +
" is duplicated. Please provide a unique 'na... | |
hardware_control/resourcemanagercpp_105.txt | void ResourceManager::import_component(
std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info)
{
std::lock_guard<std::recursive_mutex> guard(resources_lock_);
resource_storage_->initialize_system(std::move(system), hardware_info);
read_write_status.failed_hardware_names.reserve(
resour... | |
hardware_control/resourcemanagercpp_147.txt | if (!missing_state_keys.empty() || !missing_command_keys.empty())
{
std::string err_msg = "Wrong state or command interface configuration.\n";
err_msg += "missing state interfaces:\n";
for (const auto & missing_key : missing_state_keys)
{
err_msg += "' " + missing_key + " '" + "\t";
}
... | |
hardware_control/resourcemanagercpp_70.txt | ResourceManager::ResourceManager(
unsigned int update_rate, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)
: resource_storage_(std::make_unique<ResourceStorage>(update_rate, clock_interface))
{
} | |
hardware_control/resourcemanagercpp_73.txt | if (activate_all)
{
for (auto const & hw_info : resource_storage_->hardware_info_map_)
{
using lifecycle_msgs::msg::State;
rclcpp_lifecycle::State state(State::PRIMARY_STATE_ACTIVE, lifecycle_state_names::ACTIVE);
set_component_state(hw_info.first, state);
}
}
} | |
hardware_control/resourcemanagercpp_12.txt | hardware_info_map_.insert(std::make_pair(component_info.name, component_info));
hardware_used_by_controllers_.insert(
std::make_pair(component_info.name, std::vector<std::string>()));
} | |
hardware_control/1240_9.txt | January 22, 2024 11:21
[ 
](/destogl)
**[ destogl ](/destogl) ** requested changes Jan 22, 2024
[ View reviewed changes ](/ros-controls/ros2_control/pull/1240/files)
Copy link
Member
###
 in map. -> This was done becaus... | |
hardware_control/resourcemanagercpp_7.txt | if (result)
{
RCUTILS_LOG_INFO_NAMED(
"resource_manager", "Successful '%s' of hardware '%s'", transition_name.c_str(),
hardware_name.c_str());
}
else
{
RCUTILS_LOG_INFO_NAMED(
"resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
hardware_name.c_str());
... | |
hardware_control/classhardwareinterfa_8.txt | [ [ legend ](graph_legend.html) ] | |
hardware_control/1240_38.txt | Sorry, something went wrong.
[ 
](/mamueluth)
` [ update writing a hardware component ](/ros-
controls/ros2_control/pull/1240/commits/16128028a351ba0d4b667381419c2fe6e0f55b7e
"update writing a hardware component") `
` [ 1612802 ](/ros-
controls/ros... | |
hardware_control/1240_26.txt | | | // END: for backward compatibility
Copy link
Member
###
 **[
saikishor ](/saikishor) ** Mar 17, 2024
There was a problem hiding this comment.
### Choose a reason for hiding this comment
The reason will be displayed to describe this comm... | |
hardware_control/resourcemanagercpp_41.txt | template <class HardwareT>
void import_state_interfaces(HardwareT & hardware)
{
auto interfaces = hardware.export_state_interfaces();
std::vector<std::string> interface_names;
interface_names.reserve(interfaces.size());
for (auto & interface : interfaces)
{
auto key = interface.get_name(... | |
hardware_control/resourcemanagercpp_10.txt | public:
// TODO(VX792): Change this when HW ifs get their own update rate,
// because the ResourceStorage really shouldn't know about the cm's parameters
ResourceStorage(
unsigned int update_rate = 100,
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface = nullptr)
: actuator_loader_(... | |
hardware_control/25749_12.txt |
control_items_[kGoalPositionItem] = goal_position;
control_items_[kGoalVelocityItem] = goal_velocity;
control_items_[kPresentPositionItem] = present_position;
control_items_[kPresentVelocityItem] = present_velocity;
control_items_[kPresentCurrentItem] = present_current;
if ... | |
hardware_control/resourcemanagercpp_57.txt | void initialize_system(
std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info)
{
auto init_systems = [&](auto & container)
{
container.emplace_back(System(std::move(system)));
if (initialize_hardware(hardware_info, container.back()))
{
import_state_interfa... | |
robot_euler_angle/25960fanucrobotrotat_31.txt | Dear Community, | |
robot_euler_angle/25960fanucrobotrotat_7.txt | [ Your browser does not support videos ![RoboDK Software for simulation and
programming]() ](https://robodk.com/) | |
robot_euler_angle/Eulerangles_46.txt | Crystallographic texture [ [ edit
](/w/index.php?title=Euler_angles&action=edit§ion=24 "Edit section:
Crystallographic texture") ]
[ 
](/wiki/File:MAUD-MTEX-TiAl-hasylab-2003... | |
robot_euler_angle/kinematicmodellingof_35.txt | The overall transformation of end-effector w.r.t base frame is computed as: | |
robot_euler_angle/Eulerangles_37.txt | {-R_{31}}{R_{33}}}\\right\)\\end{aligned}}}](https://wikimedia.org/api/rest_v1/media/math/render/svg/8fa86565a0ac3759723a757b43bdc904000bbee8)
| |
robot_euler_angle/kinematicmodellingof_31.txt | For link 1, the x0 and x1 are in the same direction. So frame 0 doesn’t need
to rotate around the axis z0. Hence, the value is theta1. If in case, frame 0
has to rotate 90 deg clockwise around the axis z0 to match axis x0 and x1,
then the value would be -90+theta1. Similarly, By looking at the assigned
frame on the rob... | |
robot_euler_angle/221102786pdf_10.txt | Similarly, in the local coordinate Σb, we can represent the robot arm pointing from joint
b to the end point e as a vector
p
[Σb]
b→e = (0, 0, l3)
>, (3)
where l3 denotes the arm link length.
From the numbers of the vector representations of p
[Σw]
a , p
[Σw]
b
and p
[Σw]
e in the world
coordinate system, as well as p
... | |
robot_euler_angle/25960fanucrobotrotat_48.txt | 1
Trophies | |
robot_euler_angle/kinematicmodellingof_6.txt | Sign up | |
robot_euler_angle/25960fanucrobotrotat_87.txt | 6
[ Posts ](https://www.robot-forum.com/robotforum/user-post-list/2400-nation/
"Posts by Nation") | |
robot_euler_angle/221102786pdf_34.txt | we can directly calculate its corresponding rotation matrix R with Equation 68. Meanwhile,
when given a rotation matrix R, can we also directly calculate its corresponding angular
velocity vector or not? This is what we plan to introduce in this part.
According to Equation 62, the rotation matrix R can be represented a... | |
robot_euler_angle/25960fanucrobotrotat_68.txt | Check out my example Fanuc Ethernet/IP Explicit Messaging program [ here!
](https://www.robot-forum.com/robotforum/thread/46201-ethernet-ip-explicit-
messaging-example-program/) | |
robot_euler_angle/25960fanucrobotrotat_100.txt |  | |
robot_euler_angle/221102786pdf_22.txt |
cos θ 0 sin θ
0 1 0
− sin θ 0 cos θ
, (22)
Rz(ψ) =
cos ψ − sin θ 0
sin ψ cos θ 0
0 0 1
. (23)
(24)
Let’s assume, given a vector p pointing from the current joint to the end point, if we
rotate the current joint with a φ-degree angle around the x axis, a θ-degree angle around
the y axis and a ψ-degree angl... | |
robot_euler_angle/221102786pdf_28.txt |
ωypz − ωzpy
ωzpx − ωxpz
ωxpy − ωypx
=
0 −ωz ωy
ωz 0 −ωx
−ωy ωx 0
px
py
pz
. (44)
In the following subsection, we will illustrate the physical meanings of the matrix multiplied
with the vector p, which can be build from the angular velocity vector directly.
4.3.3 Rotation Transformation on Velocity... | |
robot_euler_angle/25960fanucrobotrotat_150.txt | b) Rotz(w)*Rot(r)*Rot(t) - zy'x'' / xyx | |
robot_euler_angle/kinematicmodellingof_64.txt | ](/jobs-at-medium/work-at-medium-959d1a85284e?source=post_page-----
4f40883fbaef--------------------------------) | |
robot_euler_angle/25960fanucrobotrotat_111.txt | According to the manual W,P,R are the rotation angles around the X,Y,Z of the
fixed frame (extrinsic) | |
robot_euler_angle/kinematicmodellingof_45.txt | \-- | |
robot_euler_angle/25960fanucrobotrotat_46.txt | * [ ](https://www.robot-forum.com/trophy/70-5th-anniversary/)
* [ ](https://www.robot-forum.com/trophy/72-3rd-anniversary/)
* [ ](https://www.robot-forum.com/trophy/73-helping-hand/) | |
robot_euler_angle/25960fanucrobotrotat_144.txt | 1 | |
robot_euler_angle/25960fanucrobotrotat_21.txt | * [  ]
Note that the inverse sine and cosine functions yield two possible values for
the argument. In this geometrical description, only one of the solutions is
valid. When Euler angles are defined as a sequence... | |
robot_euler_angle/25960fanucrobotrotat_34.txt | My questions are: | |
robot_euler_angle/25960fanucrobotrotat_80.txt | * [  ](https://www.robot-forum.com/user/2400-nation/) | |
robot_euler_angle/kinematicmodellingof_68.txt | ](https://policy.medium.com/medium-privacy-
policy-f03bf92035c9?source=post_page-----
4f40883fbaef--------------------------------) | |
robot_euler_angle/25960fanucrobotrotat_91.txt | > [
>  (34)
= (Rz(ψ)Ry(θ)Rx(φ))>
(Rz(ψ)Ry(θ)Rx(φ)) (35)
= Rx(φ)
>Ry(θ)
>Rz(ψ)
>Rz(ψ)Ry(θ)Rx(φ) (36)
= Rx(φ)
>
Ry(θ)
>
Rz(ψ)
>Rz(ψ)
Ry(θ)
Rx(φ) (37)
= I. (38)
Meanwhile, readers can also just calculate the product of Rrpy(φ, θ, ψ)
>Rrpy(φ, θ, ψ)
based on the concrete representations shown in Equation 26 ... | |
robot_euler_angle/25960fanucrobotrotat_125.txt | [ HawkME ](https://www.robot-forum.com/user/57811-hawkme/) | |
robot_euler_angle/kinematicmodellingof_38.txt | So putting in the values of each joint angles as well as link lengths, we will
get the position of the gripper/end-effector of our robotic arm.
**Cheers! We have made it.** | |
robot_euler_angle/Eulerangles_2.txt | Contents
move to sidebar hide
* (Top)
* 1 Chained rotations equivalence
* 2 Classic Euler angles Toggle Classic Euler angles subsection
* 2.1 Geometrical definition
* 2.2 Conventions by intrinsic rotations
* 2.3 Conventions by extrinsic rotations
* 2.4 Signs, ranges and conventio... | |
robot_euler_angle/221102786pdf_38.txt | [Σw]
a + ω
[Σw]
a ×
p
[Σw]
b − p
[Σw]
a
. (77)
In the above equation, we use many results obtained from the previous sections: (1) according to Equation 59, R˙ = ωbR, (2) according to Equation 58, ωbp = ω ×p, and (3) according
to the above Equation 72, R[Σa→Σw]p
[Σa]
a→b = p
[Σw]
a→b = p
[Σw]
b − p
[Σw]
a .
Since t... | |
robot_euler_angle/Eulerangles_28.txt | Conversion_formulae_between_formalisms
"Rotation formalisms in three dimensions")
Euler angles are one way to represent orientations. There are others, and it
is possible to change to and from other conventions. Three parameters are
always required to describe orientations in a [ 3-dimensional
](/wiki/Dimension "Dimen... | |
robot_euler_angle/Eulerangles_15.txt | will be coefficient-free. Only precession can be expressed in general as a
matrix in the basis of the space without dependencies of the other angles.
These movements also behave as a gimbal set. If we [ _[ who?
](/wiki/Wikipedia:Manual_of_Style/Words_to_watch | |
robot_euler_angle/221102786pdf_40.txt | R[Σa→Σw]p
[Σa]
a→b + p
[Σw]
a
0 1
#
. (82)
According to the physical meanings of elements in the calculated homogeneous transformation matrix T[Σb→Σw]
, we know that the rotation matrix from local coordinate Σb at
the second arm link to the world coordinate Σw and the arm end point position vector in
the world coordi... | |
robot_euler_angle/25960fanucrobotrotat_114.txt | **Using this convention, W,P,R are not Yaw, Pitch and Roll** | |
robot_euler_angle/kinematicmodellingof_4.txt | [ Write
](/m/signin?operation=register&redirect=https%3A%2F%2Fmedium.com%2Fnew-
story&source=---two_column_layout_nav-----------------------
new_post_topnav-----------) | |
robot_euler_angle/25960fanucrobotrotat_89.txt | * [ Feb 27th 2018 ](https://www.robot-forum.com/robotforum/thread/25960-fanuc-robot-rotations-and-positioning/?postID=110605#post110605) | |
robot_euler_angle/kinematicmodellingof_37.txt | **Forward Kinematics
** Forward kinematics is a concept in robotics that deals with the calculation
of the position and orientation of an end-effector based on the known joint
angles and link parameters of a robot’s kinematic chain. The first three row’s
element of fourth column of the given matrix provides the **x, ... | |
robot_euler_angle/Eulerangles_44.txt | Vehicles and moving frames [ [ edit
](/w/index.php?title=Euler_angles&action=edit§ion=23 "Edit section:
Vehicles and moving frames") ]
Main article: [ rigid body ](/wiki/Rigid_body "Rigid body")
See also: [ axes conventions ](/wiki/Axes_conventions "Axes conventions")
Their main advantage over other orientat... | |
robot_euler_angle/221102786pdf_31.txt |
| {z }
p
. (55)
Definition 10 (Projection Operators): To simplify the notations, we can also introduce
two operators ∧ : ω → RR˙ > and ∨ : RR˙ > → ω.
• Given an angular velocity vector ω, we can represent the corresponding matrix RR˙ >
projected from it as
RR˙ > = ω
∧
, or RR˙ > = ωb. (56)
• Given a skew symmetric ma... | |
robot_euler_angle/25960fanucrobotrotat_35.txt | The rotation of 1) : | |
robot_euler_angle/25960fanucrobotrotat_152.txt | [ TitusLepic ](https://www.robot-forum.com/user/58264-tituslepic/) | |
robot_euler_angle/kinematicmodellingof_7.txt | [ Sign in
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robot_euler_angle/kinematicmodellingof_46.txt | [
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---------------------clap_footer-----------) | |
robot_euler_angle/25960fanucrobotrotat_173.txt | ### [ How to see your Job Posting (search or recruit) here in Robot-Forum.com
](https://www.robot-forum.com/robotforum/thread/39917-how-to-see-your-job-
posting-search-or-recruit-here-in-robot-forum-com/) | |
robot_euler_angle/25960fanucrobotrotat_61.txt | 6
[ Posts ](https://www.robot-forum.com/robotforum/user-post-list/2400-nation/
"Posts by Nation") | |
robot_euler_angle/25960fanucrobotrotat_105.txt | 346 | |
robot_euler_angle/Eulerangles_29.txt | Rotation matrix [ [ edit
](/w/index.php?title=Euler_angles&action=edit§ion=18 "Edit section:
Rotation matrix") ]
Any orientation can be achieved by composing three elemental rotations,
starting from a known standard orientation. Equivalently, any [ rotation
matrix ](/wiki/Rotation_matrix "Rotation matrix") _R_... | |
robot_euler_angle/25960fanucrobotrotat_84.txt | * [ ](https://www.robot-forum.com/trophy/65-very-popular-member/)
* [ ](https://www.robot-forum.com/trophy/76-typewriter/) | |
robot_euler_angle/25960fanucrobotrotat_32.txt | I have a question regarding the way Fanuc robots perform positioning of a
tool. I am using an LRMate200iC with a R-30 Mate controller, but I guess this
will be the same for all Fanuc robots. | |
robot_euler_angle/kinematicmodellingof_53.txt | ](/@bikashojha904?source=post_page-----
4f40883fbaef--------------------------------) | |
robot_euler_angle/25960fanucrobotrotat_51.txt | * [ Feb 26th 2018 ](https://www.robot-forum.com/robotforum/thread/25960-fanuc-robot-rotations-and-positioning/?postID=110539#post110539) | |
robot_euler_angle/25960fanucrobotrotat_129.txt | [ Reactions Received ](https://www.robot-forum.com/user/57811-hawkme/#likes
"Reactions Received by HawkME") | |
robot_euler_angle/221102786pdf_47.txt | ∧
(105)
=ωb
[Σw]
a + ωb
[Σw]
b
. (106)
27
JIAWEI ZHANG, IFM LAB DIRECTOR
By applying the ∨ operator to both sides of the above equation, we can represent the
angular velocity of the end point as
ω
[Σw]
e = ω
[Σw]
a + ω
[Σw]
b
. (107)
To derive the angular velocity and linear velocity of the end point, we use several e... | |
robot_euler_angle/25960fanucrobotrotat_184.txt | * [ SPEED ](https://www.robot-forum.com/tagged/429-speed/?objectType=com.woltlab.wbb.thread)
* [ staubli ](https://www.robot-forum.com/tagged/193-staubli/?objectType=com.woltlab.wbb.thread)
* [ tcp ](https://www.robot-forum.com/tagged/931-tcp/?objectType=com.woltlab.wbb.thread)
* [ TCP/IP ](https://www.robot-fo... |
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