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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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[Dynpick QNX driver] Fix sample driver device path. #492

Closed 130s closed 7 years ago

130s commented 7 years ago

Needs tested with the real hardware.

Not tested yet on QNX with the actual Dynpick device, but without this change the output was strange (the example below ocsillates too much while no force was applied).

$ /opt/jsk/bin/sample_dynpick  
:
client: msg_reply:   2.849   1.064  55.332  -7.385  52.254  -7.964
                    -1.640  -0.116   2.824   0.130   2.445   0.571
client: msg_reply:   1.576   0.292   2.292   1.029   2.028  -0.290
                    -1.622  -0.110   2.830   0.135   2.445   0.567
client: msg_reply:  -0.991   2.344  52.772  -5.849  52.254  -7.965
                    -1.626  -0.105   2.830   0.135   2.436   0.576

client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.637  -0.117   2.824   0.133   2.446   0.564
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.626  -0.110   2.824   0.132   2.440   0.568
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.626  -0.105   2.823   0.130   2.452   0.568
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.623  -0.105   2.829   0.133   2.439   0.567
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.635  -0.113   2.823   0.130   2.457   0.567
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.632  -0.116   2.814   0.129   2.452   0.567
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.631  -0.107   2.823   0.135   2.452   0.565
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.626  -0.122   2.826   0.126   2.442   0.567
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.629  -0.114   2.824   0.135   2.446   0.571
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.628  -0.117   2.826   0.123   2.446   0.562
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.625  -0.114   2.817   0.130   2.458   0.579
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.617  -0.110   2.823   0.129   2.434   0.570
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.620  -0.123   2.835   0.123   2.439   0.567
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.619  -0.116   2.842   0.129   2.439   0.573
client: msg_reply:   3.361   1.064  52.260  -6.873  50.974  -7.970
                    -1.626  -0.117   2.818   0.129   2.448   0.571
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.623  -0.119   2.827   0.123   2.434   0.567
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.629  -0.104   2.832   0.135   2.446   0.565

client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.623  -0.108   2.827   0.129   2.440   0.568
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.619  -0.119   2.829   0.124   2.443   0.550
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.556  -0.099   2.814   0.138   2.452   0.564
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.629  -0.117   2.826   0.129   2.439   0.582
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.550  -0.087   2.820   0.133   2.446   0.561
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.631  -0.119   2.826   0.126   2.445   0.567
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.628  -0.114   2.826   0.123   2.443   0.564
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.626  -0.111   2.826   0.129   2.451   0.582
client: msg_reply:   1.576   0.285   2.278   1.030   2.028  -0.288
                    -1.634  -0.108   2.824   0.129   2.455   0.549
130s commented 7 years ago

NG

$ sample_dynpick_serusb1
client: msg_no: _IO_MAX + 4
Unable to MsgSend() to server: Function not implemented
130s commented 7 years ago

Dynpick QNX driver actually writes the result into "/dev/jr3q" and the sample_dynpick reads in from there. So /dev/jr3q isn't wrong here. Closing.