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Shota Aokiknjinki
Shota Aoki
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knjinki
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CRANE-X7とSciurs17のサーボモータを動かすライブラリとサンプルの追加 (#1)
* ポートのOpen/Closeまで実装 * Ubuntu 18.0, CMake 3.10でのビルドに対応 * Jointをstd::mapで表現し、名前で要素にアクセスする * トルクのON / OFF機能を実装 * できるだけuint8_tを使う * コンフィグファイルの読み込みにエラー処理を追加 * Ignore .vscode * present_positionのsync_readを実装 * group指定のget_positionsを実装 * ID指定のget_positionを実装 * スレッドでのsync_read機能を実装 * sync_readグループを設定していないときのsync_read()実行のエラー処理を追加 * sync readの処理を微修正 * create_sync_writeの骨組みを実装 * 生成するスレッドを1つし、複数グループがsync_readを実行してもエラーがでないようにした * JointGroupクラスを作成 * JointGroupにsync_readのフラグを追加 * sync_writeを実装 * group指定のset_positoinsを追加 * 速度、加速度リミット制限の骨組みを作成 * サーボの最大動作速度、加速度を設定できる * ライブラリのインストール、アンインストールに対応 * ディレクトリのレイアウトを変更 * READMEを更新 * g++で共有ライブラリを参照する方法を追記 * サンプルのREADME構成を変更。Sciurus17のトルクON/OFFサンプルを追加 * ライブラリ：ジョイント名指定で角度を取得する関数を追加 * 現在角度を読み取るサンプルを追加 * sample01に目次を追加 * s17の胴体グループ名をtorsoに変更 * ライブラリ：ジョイント名指定のset_positionを実装。 sync_writeの返り値が常にfalseになっていたので修正 * ライブラリ：write_position_pid_gain_to_groupを実装 * X7のwrite_positionサンプルを実装 * 目次の更新 * Sciurus17のwrite_positionサンプルを追加 * コンフィグファイルのsync_writeの説明を追記 * ライブラリ：スレッド起動中にスレッドを開始しない。 スレッドでsync_writeを実行する * X7のスレッドサンプルを追加 * Sciurus17のスレッドサンプルを追加 * Create LICENSE * コントリビューションガイドラインと免責事項を明記 * READMEに画像を追加 * Update README.md * ソースファイルにライセンスを記載 * ライブラリ：clang-formatでコードスタイルを整え、cpplintでチェックする * clang-formatによるフォーマットを実行 * github workflowファイルを追加 * workflowの設定ファイルを微修正 * workflowの微修正 * workflow内でyaml-cppをインストールする * Update samples/samples01/README.md Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com> * Update samples/samples01/README.md Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com> * Update samples/samples01/README.md Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com> * Update samples/samples01/README.md Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com> * Update rt_manipulators_lib/src/hardware.cpp Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com> * トルクON/OFFサンプルに、位置制御モードであればトルクのONがわかる、という文章を追加 * ID、ジョイント名指定のwrite_poisition_pid_gain関数を追加。 合わせて、write_positionサンプルを更新。 READMEを更新。 * threadの実行周期がずれにくくなるように修正 * ライブラリ：write関数を派生クラスから使えるようにprotectedに変更 * ライブラリ：デストラクタでスレッドを終了し、ロボットとの通信を切断する。 stop_thread実行時にリソースが確保されているかチェックする Co-authored-by: kenjiinukai <36922159+kenjiinukai@users.noreply.github.com>
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‎.github/workflows/build_test.yaml‎

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jobs:
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lint:
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needs: [build]
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runs-on: ubuntu-latest
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steps:
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- uses: actions/setup-python@v2
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cd DynamixelSDK/c++/build/linux64
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make
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sudo make install
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- name: Install dependencies
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run: sudo apt install libyaml-cpp-dev
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- uses: actions/checkout@v2
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- name: Build and insall library
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run: ./rt_manipulators_lib/build_install_library.bash

‎.gitignore‎

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*.app
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build
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bin
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.vscode

‎.tools/cpplint.bash‎

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#!/usr/bin/env bash
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set -e
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SCRIPT_DIR=$(dirname $0)
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LIB_DIR=$SCRIPT_DIR/../rt_manipulators_lib
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SAMPLES01_DIR=$SCRIPT_DIR/../samples/samples01
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function cpplint_check () {
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cpplint --filter=-build/c++11,-runtime/reference --linelength=100 --extensions=hpp,cpp $1/include/* $1/src/*
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}
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echo "cpplintを実行し、コードフォーマットをチェックします"
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cpplint_check $LIB_DIR
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cpplint_check $SAMPLES01_DIR
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‎CONTRIBUTING.md‎

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# Contribution Guide
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本リポジトリへのコントリビュート方法について記載しています。
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## Issues
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リポジトリの品質向上にご協力頂きありがとうございます。
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Issueの作成を簡単にするテンプレートを用意しているので活用してください。
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## Pull Requests
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Pull Requestの作成ありがとうございます。
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提出したPull Request（PR）には次のルールが適用されます。
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- PRの内容には本リポジトリのライセンス（[LICENSE](./LICENSE)と[README.md](./README.md)に記載されています）が適用されます
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- PRは`rt-net`のメンバーによるレビューを経てからマージされます
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- すべてのPRがマージされるわけではなく、希望に添えない場合もありますのでご容赦ください
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- リポジトリにテストが設定されている場合はできるだけテストを通してください
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- 何かしらの理由（テストに間違いがある場合など）でテストを通さずPRを出す場合はその旨をPRに記載してください
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- マージする際にはPR内の全コミットが1つのコミットに`squash`されます
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- [プルリクエストのコミットのsquashとマージ | GitHubヘルプ](https://help.github.com/ja/github/collaborating-with-issues-and-pull-requests/about-pull-request-merges#squash-and-merge-your-pull-request-commits)
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- 1つのPRでリクエストする変更はできるだけシンプルにしてください
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- 異なる内容の変更を含む場合はPRを分割してください
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- 例えば、複数の機能追加したり、機能追加とリファクタリングを同時にする場合はそれぞれ別々のPRとしてください
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- squashマージしても履歴を辿りやすくするためです

‎LICENSE‎

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‎README.md‎

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# RTマニピュレータC++ライブラリとサンプル集（rt_manipulators_cpp）
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本リポジトリは、株式会社アールティが販売している
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[アームロボット**CRANE-X7(クラインエックスセブン)**](https://rt-net.jp/products/crane-x7/)
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と
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[上半身人型ロボット**Sciurus17(シューラスセブンティーン)**](https://rt-net.jp/products/sciurus17/)
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を動かすための、C++ライブラリおよびサンプルプログラムを提供します。
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<img src=https://rt-net.github.io/images/crane-x7/CRANE-X7-500x500.png width=400px /><img src=https://rt-net.github.io/images/sciurus17/Sciurus17-500x500.png width=400px />
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## 動作環境
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- CMake (>= 3.1.0)
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- g++ (>= 7.5.0)
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- [DYNAMIXEL SDK](https://github.com/ROBOTIS-GIT/DynamixelSDK) (linux64向けにビルド&インストール)
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- [yaml-cpp](https://github.com/jbeder/yaml-cpp)
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- Linux OS
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- Ubuntu 18.04
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- Ubuntu 20.04
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- ロボット
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- [CRANE-X7](https://rt-net.jp/products/crane-x7/)
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- [Sciurus17](https://rt-net.jp/products/sciurus17/)
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## インストール方法
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### DYNAMIXEL SDKのインストール
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[DYNAMIXEL SDKのe-manual](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/#cpp-linux)
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を参考に、linux 64bit環境用にDYNAMIXEL SDKをビルド＆インストールします。
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```sh
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$ sudo apt install build-essential
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$ cd ~
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$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
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$ cd ~/DynamixelSDK/c++/build/linux64
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$ make
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$ sudo make install
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```
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### その他依存関係のインストール
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次のコマンドを実行します。
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```sh
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$ sudo apt install libyaml-cpp-dev
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```
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### RTマニピュレータC++ライブラリのビルド&インストール
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詳細は[rt_manipulators_lib/README.md](./rt_manipulators_lib/README.md)を参照してください。
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```sh
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$ git clone https://github.com/rt-net/rt_manipulators_cpp
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$ cd rt_manipuators_cpp/rt_manipulators_lib
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$ ./build_install_library.bash
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```
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## サンプルプログラムの実行
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詳細は[samples/README.md](./samples/README.md)を参照してください。
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```sh
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$ cd rt_manipulators_cpp/samples/samples01
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$ ./build_samples.bash
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$ cd bin/
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$ ./x7_onoff
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CRANE-X7のトルクをON/OFFするサンプルです.
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CRANE-X7(ポート:/dev/ttyUSB0 ボーレート:3000000)に接続します.
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コンフィグファイル:../config/crane-x7.yamlを読み込みます.
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Config file '../config/crane-x7.yaml' loaded.
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arm
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joint1, id:2, mode:3
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joint2, id:3, mode:3
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joint3, id:4, mode:3
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joint4, id:5, mode:3
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joint5, id:6, mode:3
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joint6, id:7, mode:3
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joint7, id:8, mode:3
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hand
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joint_hand, id:9, mode:3
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サーボグループ:armのトルクをONにします.
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...
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```
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## 免責事項
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当該製品および当ソフトウェアの使用中に生じたいかなる損害も株式会社アールティでは一切の責任を負いかねます。
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ユーザー自身で作成されたプログラムに適切な制限動作が備わっていない場合、本体の損傷や、本体が周囲や作業者に接触、あるいは衝突し、思わぬ重大事故が発生する危険があります。
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ユーザーの責任において十分に安全に注意した上でご使用下さい。
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## ライセンス
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(C) 2021 RT Corporation \<support@rt-net.jp\>
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各ファイルはライセンスがファイル中に明記されている場合、そのライセンスに従います。
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特に明記されていない場合は、Apache License, Version 2.0に基づき公開されています。
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ライセンスの全文は[LICENSE](./LICENSE)
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または[https://www.apache.org/licenses/LICENSE-2.0](https://www.apache.org/licenses/LICENSE-2.0)
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から確認できます。
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## 開発について
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- 本ソフトウェアはオープンソースですが、開発はオープンではありません。
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- 本ソフトウェアは基本的にオープンソースソフトウェアとして「AS IS」（現状有姿のまま）で提供しています。
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- 本ソフトウェアに関する無償サポートはありません。
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- バグの修正や誤字脱字の修正に関するリクエストは常に受け付けていますが、
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それ以外の機能追加等のリクエストについては社内のガイドラインを優先します。
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詳しくは[コントリビューションガイドライン](./CONTRIBUTING.md)に従ってください。
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‎rt_manipulators_lib/.clang-format‎

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BasedOnStyle: Google
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ColumnLimit: 100

‎rt_manipulators_lib/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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# set the project name and version
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project(rt_manipulators_cpp VERSION 1.0)
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# specify the C++ standard
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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add_subdirectory(src)

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