iaminheu/YMbot_ROS2_BODY

iaminheu 6ed22960fb first commit		2 luni în urmă
..
.vscode	6ed22960fb first commit	2 luni în urmă
build	6ed22960fb first commit	2 luni în urmă
config	6ed22960fb first commit	2 luni în urmă
include	6ed22960fb first commit	2 luni în urmă
lib	6ed22960fb first commit	2 luni în urmă
src	6ed22960fb first commit	2 luni în urmă
CMakeLists.txt	6ed22960fb first commit	2 luni în urmă
readme.md	6ed22960fb first commit	2 luni în urmă

作者: chen furong

文件结构：

ymbot_d_sharedmemory_driver
|-------CMakeLists.txt 
|-------build/
|-------config/
|-------include/
        |-------eu_planet.h         // 厂家提供
        |-------SharedMemoryArm.hpp.h     // 共享内存类
        |-------ymbot_eumotor_interface.h     // 无用
        |-------ymbot_joint_eu.h       // 封装电机类
|-------lib/
        |-------四个.so文件，更新libeu_canable.so以及libcyhcs_log.so
        |-------三个.so.60文件
        |-------两个.so.200文件
|-------src/
        |-------ymbot_d_eumotor_interface.cpp
        |-------ymbot_d_eumotor_interface_test.cpp
        |-------ymbot_joint_eu.cpp

编译：直接在build下面 cmake .. && make

使用：直接运行build下面的执行文件

二次开发：

共享内存顺序，按config里面的id顺序：身体从下到上；脖子从左右摆到俯仰21；左臂从肩部到末端；右臂从肩部到末端
示例：test程序

维护日志：

2025.5.9 
    创建成功
2025.8.1 
    添加test测试程序
2025.8.2
    添加第一帧位置数据写入共享内存的目标位置
2025.11.26
    1.问题：通信不成功 RTNETLINK answers: Device or resource busy
       方法1：ldd ymbot_d_eumotor_interface查看so链接库路径，确保指向lib文件
            更新lib里面libeu_canable.so和libcyhcs_log.so, 在cmakelist.txt添加libcyhcs_log.so库，重新编译。
            export LD_LIBRARY_PATH=/home/ymzz/ws_dep/ymbot_d_sharedmemory_driver/lib:$LD_LIBRARY_PATH
            source ~/.bashrc
       方法2：可能can口处于打开状态，关闭所有can0 can1 can2口，sudo ip link set can0 down
    2.限位：更改了身体电机的最大和最小运动角度；
           更改限位检查函数：可以从限位位置回去
    3.初始化：将第一次读取的电机值写入共享内存，避免下发0
    4.添加超时警告
    5.问题：error:没有接收到回应数据,id: 11 命令类型 16
        方法：更改config里面的对应电机的can索引，尝试0 1 2
2025.12.18
    在initmotor添加关闭can口

readme.md