Fix merge conflicts

Author: Roelemans

march_hardware/include/march_hardware/motor_controller/odrive/odrive_states.h

@@ -14,18 +14,36 @@ struct OdriveStates : public MotorControllerStates
   OdriveStates() = default;
 
   States state;
+  uint16_t axisError;
+  uint16_t axisMotorError;
+  uint16_t axisEncoderError;
+  uint16_t axisControllerError;
 
-  virtual bool checkState()
+  std::string axisErrorDescription;
+  std::string axisMotorErrorDescription;
+  std::string axisEncoderErrorDescription;
+  std::string axisControllerErrorDescription;
+
+  bool checkState() override
   {
-    return true;
+    if (this->axisError == ERROR_NONE)
+    {
+      return true;
+    }
+    return false;
   }
 
-  virtual std::string getErrorStatus()
+  std::string getErrorStatus() override
   {
     std::ostringstream error_stream;
-    //    std::string state = IMCStateOfOperation(this->statusWord).getString().c_str();
 
-    error_stream << "State: " << state;
+    error_stream << "State: " << this->state << "\nAxis Error: " << this->axisError << " ("
+                 << this->axisErrorDescription << ")"
+                 << "\nMotor Error: " << this->axisMotorError << " (" << this->axisMotorErrorDescription << ")"
+                 << "\nEncoder Error: " << this->axisEncoderError << " (" << this->axisEncoderErrorDescription << ")"
+                 << "\nController Error: " << this->axisControllerError << " (" << this->axisControllerErrorDescription
+                 << ")";
+
     return error_stream.str();
   }
 };

march_hardware_builder/robots/march3.yaml

@@ -1,6 +1,6 @@
 march3:
   ifName: enp3s0
-  ecatCycleTime: 4
+  cycleTime: 4
   joints:
     - right_hip:
         actuationMode: position

march_hardware_builder/robots/march4.yaml

@@ -1,8 +1,8 @@
 # For convenience it is easiest if the joint order is maintained, it is chosen to sort the joints alphabetically.
 march4:
   ifName: enp2s0
-  ecatCycleTime: 4
-  ecatSlaveTimeout: 50
+  cycleTime: 4
+  slaveTimeout: 50
   joints:
     - left_ankle:
         actuationMode: torque

march_hardware_builder/robots/pdb.yaml

@@ -1,6 +1,6 @@
 pdb:
   ifName: enp2s0
-  ecatCycleTime: 4
+  cycleTime: 4
   powerDistributionBoard:
     slaveIndex: 1
     bootShutdownOffsets:

march_hardware_builder/robots/test_joint_linear.yaml

@@ -1,7 +1,7 @@
 testjoint_linear:
  ifName: enp2s0
- ecatCycleTime: 4
- ecatSlaveTimeout: 50
+ cycleTime: 4
+ slaveTimeout: 50
  joints:
    - linear_joint:
        actuationMode: torque

march_hardware_builder/robots/test_joint_rotational.yaml

@@ -1,7 +1,7 @@
 testsetup:
   ifName: enp2s0
-  ecatCycleTime: 4
-  ecatSlaveTimeout: 50
+  cycleTime: 4
+  slaveTimeout: 50
   joints:
     - rotational_joint:
         actuationMode: torque

march_hardware_interface/src/march_hardware_interface_node.cpp

@@ -54,7 +54,7 @@ int main(int argc, char** argv)
   {
     try
     {
-      march.waitForPdo();
+      march.waitForUpdate();
 
       const ros::Time now = ros::Time::now();
       ros::Duration elapsed_time = now - last_update_time;