<<PackageHeader(dynamixel_workbench_single_manager)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/|ROBOTIS e-Manual for Dynamixel-Workbench]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name= dynamixel_monitor

pub{
  0{
   name= dynamixel/XM
   type= dynamixel_workbench_msgs/XM
   desc= Provides all states for connected Dynamixel by reading [[http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/|control table]].
  }
}

srv{
  0{
    name= dynamixel/command
    type= dynamixel_workbench_msgs/DynamixelCommand
    desc= Receive commands and write value to control table of connected Dynamixel
  }
  1{
    name= dynamixel/info
    type= dynamixel_workbench_msgs/GetDynamixelInfo
    desc= Get information about connected Dynamixel(id, baudrate, ...)
  }
}

param{
  0{
    name= /use_ping
    type= Bool
    default= false
    desc= Configure whether ping one of Dynamixels
  }
  1{
    name= /id
    type= uint8_t
    default= 1
    desc= Set id for ping Dynamixel
  }
  2{
    name= /device_name
    type= String
    default= /dev/ttyUSB0
    desc= Configure USB port name
  }
  3{
    name= /baud_rate
    type= uint32_t
    default= 57600
    desc= Configure baud rate for connecting Dynamixel
  }
  4{
    name= /scan_range
    type= uint8_t
    default= 10
    desc= Configure scan range for connecting Dynamixel
  }
}

}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name= dynamixel_controller

srv{
  0{
    name= dynamixel/command
    type= dynamixel_workbench_msgs/DynamixelCommand
    desc= Get command to write value for control Dynamixel
  }
  1{
    name= dynamixel/info
    type= dynamixel_workbench_msgs/GetDynamixelInfo
    desc= Send information about connected Dynamixel(id, baudrate, ...)
  }
}

}
}}}

== Tutorials ==
* [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#command-line|Single Manager Tutorials]] 
- This tutorial describes how to start single manager and change address value in linked Dynamixel using command line