open_manipulator OpenCR代码解读

 

#include "open_manipulator_libs/include/open_manipulator_libs/open_manipulator.h"
#include "open_manipulator_libs/include/open_manipulator_libs/dynamixel.h"
#include "open_manipulator_libs/include/open_manipulator_libs/kinematics.h"
#include "open_manipulator_libs/include/open_manipulator_libs/custom_trajectory.h"

　　

 

// Use Custom ID settings
void OpenManipulator::setOpenManipulatorCustomJointId(uint8_t joint1, uint8_t joint2, uint8_t joint3, uint8_t joint4, uint8_t gripper)
{
  joint1_id = joint1;
  joint2_id = joint2;
  joint3_id = joint3;
  joint4_id = joint4;
  gripper_id = gripper;
}