open_manipulator: open_manipulator_description | open_manipulator_dynamixel_ctrl | open_manipulator_moveit | open_manipulator_position_ctrl

Package Summary

The Dynamixel controller package based on Dynamixel-Workbench for OpenManipulator.

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

dynamixel_controller

Subscribed Topics

open_manipulator/goal_joint_position (sensor_msgs/JointState)
  • Subscribe goal position of joints
open_manipulator/goal_gripper_position (sensor_msgs/JointState)
  • Subscribe goal position of gripper

Published Topics

open_manipulator/joint_states (sensor_msgs/JointState)
  • Publish present position of Dynamixel

Parameters

/use_robot_name (String, default: open_manipulator)
  • Set robot name
/device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/baud_rate (uint32_t, default: 1000000)
  • Configure baud rate for connecting Dynamixel
/protocol_version (float, default: 2.0)
  • Configure protocol version for Dynamixel
/joint_controller (string, default: position_mode)
  • Configure operating mode for joint
/joint1_id (uint8_t, default: 1)
  • Configure id for joint1
/joint2_id (uint8_t, default: 2)
  • Configure id for joint2
/joint3_id (uint8_t, default: 3)
  • Configure id for joint3
/joint4_id (uint8_t, default: 4)
  • Configure id for joint4
/gripper_controller (string, default: current_mode)
  • Configure operating mode for gripper
/gripper_id (uint8_t, default: 5)
  • Configure id for gripper

Wiki: open_manipulator_dynamixel_ctrl (last edited 2018-06-15 02:09:23 by Darby Lim)