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dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_toolbox
Package LinksDependencies (4)
Used by (1)

Package Summary

Released
Documented

It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_toolbox
Package LinksDependencies (4)
Used by (1)
Jenkins jobs (9)

Package Summary

Released
Documented

It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

Contents

  1. ROBOTIS e-Manual
  2. ROS API
    1. position_control
      1. Published Topics
      2. Services
      3. Parameters
    2. velocity_control
      1. Published Topics
      2. Services
      3. Parameters
    3. torque_control
      1. Published Topics
      2. Services
      3. Parameters
    4. multi_port
      1. Published Topics
      2. Services
      3. Parameters
  3. Tutorials

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

position_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Parameters

/device_name (String, default: /dev/ttyUSB0) /baud_rate (uint32_t, default: 57600) /scan_range (uint8_t, default: 10) /profile_velocity (uint32_t, default: 200) /profile_acceleration (uint32_t, default: 50)

velocity_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

velocity_command (dynamixel_workbench_msgs/WheelCommand)

Parameters

/device_name (String, default: /dev/ttyUSB0) /baud_rate (uint32_t, default: 57600) /left_wheel (uint8_t, default: 1) /right_wheel (uint8_t, default: 2) /profile_velocity (uint32_t, default: 200) /profile_acceleration (uint32_t, default: 50)

torque_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Parameters

/device_name (String, default: /dev/ttyUSB0) /baud_rate (uint32_t, default: 3000000) /pan_id (uint8_t, default: 1) /tilt_id (uint8_t, default: 2) /p_gain (float, default: 0.003) /d_gain (float, default: 0.00002)

multi_port

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Parameters

/pan_device_name (String, default: /dev/ttyUSB0) /pan_baud_rate (uint32_t, default: 57600) /tilt_device_name (String, default: /dev/ttyUSB1) /tilt_baud_rate (uint32_t, default: 57600) /scan_range (uint8_t, default: 10) /profile_velocity (uint32_t, default: 200) /profile_acceleration (uint32_t, default: 50)

Tutorials

* dynamixel workbench controllers tutorials - This tutorial describes how to run controllers with tutorial packages.

Wiki: dynamixel_workbench_controllers (last edited 2018-04-12 04:50:30 by Darby Lim)