Installed the ROS hydro components for the dynamixel servos, and configured the pan tilt controllers.
Software so far looks OK, now I need to re-vive the dynamixels from the arduino and hopefully the protocol CRC errors will be gone.
<launch>
<node name=”dynamixel_manager” pkg=”dynamixel_controllers” type=”controller_manager.py” required=”true” output=”screen”>
<rosparam>
namespace: dxl_manager
serial_ports:
pan_tilt_port:
port_name: “/dev/ttyACM0″
baud_rate: 57600
min_motor_id: 1
max_motor_id: 13
update_rate: 20
</rosparam>
</node>
</launch>
<launch>
<!– Load controller configuration to parameter server –>
<rosparam file=”$(find teddy_dynamixel)/config/dynamixel_joint_controllers.yaml” command=”load”/>
<!– start specified joint controllers –>
<node name=”dynamixel_controller_spawner” pkg=”dynamixel_controllers” type=”controller_spawner.py”
args=”–manager=dxl_manager
–port=pan_tilt_port
–type=simple
pan_controller
tilt_controller”
output=”screen”/>
</launch>
pan_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: pan_joint
joint_speed: 2.0
motor:
id: 11
init: 512
min: 0
max: 1023
tilt_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: tilt_joint
joint_speed: 2.0
motor:
id: 12
init: 512
min: 0
max: 1023
