servo_dynamixel.orogen

name "servo_dynamixel"
# Optionally declare the version number
# version "0.1"

using_library "dynamixel"
import_types_from "base"
import_types_from "dynamixel/dynamixel_types.hpp"
import_types_from "base/JointTransform.hpp"

task_context "Task" do
    needs_configuration

    # the system device name for the servo controller command
    property "device", "/std/string"

    # the baudrate for the communication with the servos
    property "baudrate", "/int", 57600

    # set a retry count for sending packages to the device
    property "package_retry_count", "/int", 0

    # read/write timeout of dynamixel in ms
    property "timeout", "/int", 1000

    # set limits of the servo. Scale and offset values from servo_config will be used to convert to ticks.
    # Min Position corresponds to CW Angle Limit, Max Position to CCW Angle Limit
    # Max Speed will be the initial moving speed of servo, max effort will be the torque limit
    # If a value is not set, default will be used (0...1023 as joint limits in ticks, max moving speed (1023), max torque (1023))
    # Min speed and min effort members are not used
    property "joint_limits", "/base/JointLimits"

    # If true, input command will be capped to respect the joint limits. If false, exception will be thrown if a joint limit is violated.
    property "cap_at_limits", "/int", 0

    # configuration of the servo chain 
    # adds the mapping of name to servo id, and also sets the 
    # dynamixel specific configuration values
    property "servo_config", "std/vector</servo_dynamixel/ServoConfiguration>"

    # Always keep torque enabled (even after stopping the component)
    property "keep_torque_enabled", "int", 0

    # optional configuration for the rigid_body_states 
    # this module will generate on the 
    property "joint_transform", "base/JointTransformVector"

    # command values for the servos
    # the names in the type need to match the configured values
    input_port "command", "base/commands/Joints"

    # status values for all the servos that have been configured 
    output_port "status_samples", "base/samples/Joints"

    # if the joint_transform configuration is set, this port
    # will output the joints in form of RigidBodyStates
    #
    # note: you will need a buffered connection if multiple joints
    # are served by this module in order to not miss any transforms
    output_port "transforms", "base/samples/RigidBodyState"

    # Debug Port to check the cycle time
    output_port "act_cycle_time", "double"

    periodic 0.1
end