From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 18 May 2018 23:48:30 +0000 (-0300)
Subject: Working voltage interface.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=7b0f79abfb1ce69a636a3f397ebb57b1ac023b46;p=gazebo_ros_electrical.git

Working voltage interface.
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e3ee40..96cb75c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   transmission_interface
   urdf
+  voltage_controllers
 )
 
 ## System dependencies are found with CMake's conventions
@@ -112,7 +113,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES gazebo_ros_electrical
-#  CATKIN_DEPENDS angles control_toolbox gazebo hardware_interface joint_limits_interface pluginlib roscpp transmission_interface urdf
+#  CATKIN_DEPENDS angles control_toolbox gazebo hardware_interface joint_limits_interface pluginlib roscpp transmission_interface urdf voltage_controllers
 #  DEPENDS system_lib
 )
 
diff --git a/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
index 30db6de..15a53e7 100644
--- a/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
+++ b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
@@ -74,24 +74,9 @@
 // URDF
 #include <urdf/model.h>
 
-#ifndef HARDWARE_INTERFACE_JOINT_COMMAND_EXTENDED_INTERFACE_H
-#define HARDWARE_INTERFACE_JOINT_COMMAND_EXTENDED_INTERFACE_H
+//Fix this
+#include <voltage_controllers/joint_command_interface.h>
 
-#include "hardware_interface/joint_command_interface.h"
-
-namespace twil_hardware_interfaces {
-
-/// \ref JointCommandInterface for commanding voltage-based joints.
-class VoltageJointInterface : public hardware_interface::JointCommandInterface {};
-
-}
-
-#endif
-
-namespace hardware_interface
-{
-class VoltageJointInterface : public twil_hardware_interfaces::VoltageJointInterface {};
-}
 
 namespace gazebo_ros_electrical
 {
diff --git a/package.xml b/package.xml
index d4f576d..c187572 100644
--- a/package.xml
+++ b/package.xml
@@ -51,6 +51,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>transmission_interface</build_depend>
   <build_depend>urdf</build_depend>
+  <build_depend>voltage_controllers</build_depend>
   <run_depend>angles</run_depend>
   <run_depend>control_toolbox</run_depend>
   <run_depend>gazebo</run_depend>
@@ -61,6 +62,7 @@
   <run_depend>roscpp</run_depend>
   <run_depend>transmission_interface</run_depend>
   <run_depend>urdf</run_depend>
+  <run_depend>voltage_controllers</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/src/dcmotor_robot_hw_sim.cpp b/src/dcmotor_robot_hw_sim.cpp
index 7dcbf7e..0ff1caf 100644
--- a/src/dcmotor_robot_hw_sim.cpp
+++ b/src/dcmotor_robot_hw_sim.cpp
@@ -398,7 +398,7 @@ void DCmotorRobotHWSim::writeSim(ros::Time time, ros::Duration period)
           
           if(joint_inductance_[j] > 0.0)
           {
-            joint_current_[j]+=(voltage-joint_current_[j]*joint_resistance_[j]-joint_torque_constant_[j]*joint_velocity_[j])/joint_inductance_[j]/period.toSec();
+            joint_current_[j]+=(voltage-joint_current_[j]*joint_resistance_[j]-joint_torque_constant_[j]*joint_velocity_[j])/joint_inductance_[j]*period.toSec();
           }
           else joint_current_[j]=(voltage-joint_torque_constant_[j]*joint_velocity_[j])/joint_resistance_[j];
           const double effort=joint_torque_constant_[j]*joint_current_[j];