<<PackageHeader(carl_dynamixel)>>
<<TOC(4)>>
<<MsgSrvDoc(carl_dynamixel)>>
== About ==
The `carl_dynamixel` package is a package which launches the correct nodes and controllers from the 'dynamixel_motors' package. It also has a sensor_msgs/JointState publisher.
== Nodes ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name = back_joint_node
desc = `back_joint_node` will take the position information and publish it as a 'sensor_msgs/JointState'
sub {
0.name = motor_states/back_port
0.type = 'dynamixel_msgs/MotorStateList'
0.desc = a list of the motor states connected to the dynamixelUSB controller.
}
pub {
0.name = dynamixel_back
0.type = 'sensor_msgs/JointState'
0.desc = publishes the joint state information for all of the motors connected to the dynamixelUSB controller.
}
param {
0.name = back_servos/num_servos
0.type = `int`
0.desc = number of servos connected to the dynamixelUSB
1.name = back_servos/1/id
1.type = `int`
1.desc = the id number of the first servo connected
2.name = back_servos/1/link_name
2.type = `string`
2.desc = the link_name number of the first servo connected
}
}
node.1 {
name = front_joint_node
desc = `front_joint_node` will take the position information and publish it as a 'sensor_msgs/JointState'
sub {
0.name = motor_states/front_port
0.type = 'dynamixel_msgs/MotorStateList'
0.desc = a list of the motor states connected to the dynamixelUSB controller.
}
pub {
0.name = dynamixel_front
0.type = 'sensor_msgs/JointState'
0.desc = publishes the joint state information for all of the motors connected to the dynamixelUSB controller.
}
param {
0.name = front_servos/num_servos
0.type = `int`
0.desc = number of servos connected to the dynamixelUSB
1.name = front_servos/1/id
1.type = `int`
1.desc = the id number of the first servo connected
2.name = front_servos/1/link_name
2.type = `string`
2.desc = the link_name number of the first servo connected
}
}
node.2 {
name = servo_pan_tilt
desc = `servo_pan_tilt` allows velocity-based panning and tilting for the servos.
sub {
0.name = asus_controller/tilt
0.type = 'std_msgs/Float64'
0.desc = Tilt command subscriber (rad/s) for the back servo (asus depth sensor mount).
}
sub {
1.name = creative_controller/pan
1.type = 'std_msgs/Float64'
1.desc = Pan command subscriber (rad/s) for the front servo (creative depth sensor mount).
}
sub {
2.name = dynamixel_back
2.type = 'sensor_msgs/JointState'
2.desc = Joint state updates for the back servo.
}
sub {
3.name = dynamixel_front
3.type = 'sensor_msgs/JointState'
3.desc = Joint state updates for the front servo.
}
pub {
0.name = asus_controller/command
0.type = 'std_msgs/Float64'
0.desc = Position command (rad) for the back servo (asus depth sensor mount).
}
pub {
1.name = creative_controller/command
1.type = 'std_msgs/Float64'
1.desc = Position command (rad) for the front servo (creative depth sensor mount).
}
srv {
0.name = asus_controller/look_at_point
0.type = carl_dynamixel/LookAtPoint
0.desc = Center asus camera on a given point.
}
srv {
1.name = asus_controller/look_at_frame
1.type = carl_dynamixel/LookAtFrame
1.desc = Center asus camera on a given coordinate frame.
}
}
}}}
== Installation ==
=== Source ===
To install from source, execute the following:
{{{#!shell
cd /path/to/your/catkin/workspace/src
git clone https://github.com/WPI-RAIL/carl_bot.git
cd /path/to/your/catkin/workspace
catkin_make
catkin_make install
}}}
=== Ubuntu Package ===
To install the Ubuntu package, execute the following:
{{{
sudo apt-get install ros-indigo-carl-bot
}}}
=== Startup ===
The `carl_dynamixel` package contains a `carl_servos.launch` This file launches an instance of the `dynamixel_manager` and `tilt_controller_spawner` nodes from the 'dynamixel_motor' metapackage. It also launches the 'back_joints_node' and `front_joints_node`, as well as the `servo_pan_tilt` node for velocity commands. To launch these nodes, the following command can be used:
. {{{
roslaunch carl_dynamixel carl_servos.launch
}}}
Once this launches the following topics becomes available:
{{{
#!clearsilver CS/NodeAPI
node.0 {
name = Available Topics
desc = the topics to which the launch files publishes and subscribes.
pub {
0.name = motor_states/back_port
0.type = 'dynamixel_msgs/MotorStateList'
0.desc = a list of the motor states connected to the dynamixelUSB controller at back of robot.
1.name = motor_states/front_port
1.type = 'dynamixel_msgs/MotorStateList'
1.desc = a list of the motor states connected to the dynamixelUSB controller at front of robot.
2.name = asus_controller/state
2.type = 'dynamixel_msgs/JointState'
2.desc = information about the servo associated with the asus_controller
3.name = creative_controller/state
3.type = 'dynamixel_msgs/JointState'
3.desc = information about the servo associated with the creative_controller
}
sub {
0.name = asus_controller/command
0.type = 'std_msgs/Float64'
0.desc = the command in radians to which the servo on the asus_controller should go. 0 radians = 512 out of the possible 1023. Commands range from -2.618 to 2.618 when the servo can traverse its full range.
1.name = creative_controller/command
1.type = 'std_msgs/Float64'
1.desc = the command in radians to which the servo on the asus_controller should go. 0 radians = 512 out of the possible 1023. Commands range from -2.618 to 2.618 when the servo can traverse its full range.
2.name = asus_controller/tilt
2.type = 'std_msgs::Float64'
2.desc = Velocity command (rad/s) to move the back servo.
3.name = creative_controller/pan
3.type = 'std_msgs::Float64'
3.desc = Velocity command (rad/s) to move the front servo.
}
}
}}}
== Expansion ==
This package can support up to 5 servos per USB device.
=== Wiring ===
To add a servo to the USB device simply attach the 3-pin wire, on the right connector of the servo, to an open connector on the power distribution board.
=== Code ===
To make sure the newly attached servo has its 'sensor_msgs/JointState' published and that it can be controlled a controller and the joint state information needs to be added.
==== Controller ====
Just by attaching the servo, some information will automatically be published to
the 'motor_states/<port>' topic, where the port is the specific USBDynamixel it is plugged into. To make sure the servo can be moved a YAML file needs to be made.
Copy and paste the following code into carl_dynamixel/config/example.yaml
{{{
example_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: example_joint
joint_speed: 0.5
motor:
id: 1
init: 512
min: 0
max: 1023
}}}
The id for the servo can be found from the 'motor_states/<port>' topic
Now add to the launch file:
{{{
<!-- Start example joint controller -->
<rosparam file="$(find carl_dynamixel)/config/example.yaml" command="load"/>
<node name="example_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
args="--manager=dxl_manager
--port back_port
example_controller"
output="screen"/>
}}}
Now launch the file and the new servo should have specific joint information published on the 'example_controller/state' topic and publishing a Float64 to the 'example_controller/command' will move the servo to that position.
==== Joint State ====
Joint state publishers are already set up, however, to add a new servo the following lines need to be added to either back_servos.yaml or front_servos.yaml depending on which USB port they are plugged into.
{{{
"2":
id: 2
link_name: joint_2
}}}
Also the variable num_servos should be changed to match the number of servos.
The following is an example of the modified back_servos.yaml file.
{{{
back_servos:
num_servos: 3
"1":
id: 1
link_name: asus_servo_asus_servo_arm_joint
"2":
id: 2
link_name: joint_2
"3":
id: 12
link_name: joint_3
}}}
== Support ==
Please send bug reports to the [[https://github.com/WPI-RAIL/rovio/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments.
* [[Russell Toris]]
* rctoris@wpi.edu
* [[http://users.wpi.edu/~rctoris/|Academic Website]]
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