dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

Package Summary

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_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

Package Summary

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

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

position_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
  • Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)
  • Get commands and write value to Goal Position address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/baud_rate (uint32_t, default: 57600)
  • Configure baud rate for connecting Dynamixel
/scan_range (uint8_t, default: 10)
  • Configure scan range for connecting Dynamixel
/profile_velocity (uint32_t, default: 200)
  • Velocity Value of Profile
/profile_acceleration (uint32_t, default: 50)
  • Acceleration Value of Profile

velocity_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
  • Provides some states for connected Dynamixel by reading control table.

Services

velocity_command (dynamixel_workbench_msgs/WheelCommand)
  • Get commands and write value to Goal Velocity or Moving Speed address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/baud_rate (uint32_t, default: 57600)
  • Configure baud rate for connecting Dynamixel
/left_wheel (uint8_t, default: 1)
  • Configure ID of Dynamixel
/right_wheel (uint8_t, default: 2)
  • Configure ID of Dynamixel
/profile_velocity (uint32_t, default: 200)
  • Velocity Value of Profile
/profile_acceleration (uint32_t, default: 50)
  • Acceleration Value of Profile

torque_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
  • Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)
  • Get commands and write value to Goal Current address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/baud_rate (uint32_t, default: 3000000)
  • Configure baud rate for connecting Dynamixel
/pan_id (uint8_t, default: 1)
  • Configure ID of Dynamixel
/tilt_id (uint8_t, default: 2)
  • Configure ID of Dynamixel
/p_gain (float, default: 0.003)
  • Set p gain for PID feedback control
/d_gain (float, default: 0.00002)
  • Set d gain for PID feedback control

multi_port

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
  • Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)
  • Get commands and write value to Goal Current address in control table of connected Dynamixel

Parameters

/pan_device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/pan_baud_rate (uint32_t, default: 57600)
  • Configure baud rate for connecting Dynamixel
/tilt_device_name (String, default: /dev/ttyUSB1)
  • Configure USB port name
/tilt_baud_rate (uint32_t, default: 57600)
  • Configure baud rate for connecting Dynamixel
/scan_range (uint8_t, default: 10)
  • Configure scan range for connecting Dynamixel
/profile_velocity (uint32_t, default: 200)
  • Velocity Value of Profile
/profile_acceleration (uint32_t, default: 50)
  • Acceleration Value of Profile

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)