<<PackageHeader(open_manipulator_dynamixel_ctrl)>>
<<TOC(4)>>

''ROS Software Maintainer: [[ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/platform/openmanipulator/|ROBOTIS e-Manual for OpenManipulator]]

{{{
#!clearsilver CS/NodeAPI
node.0 {
name=dynamixel_controller

pub{
  0{
   name= open_manipulator/joint_states
   type= sensor_msgs/JointState
   desc= Publish present position of Dynamixel
  }
}

sub{
  0{
   name= open_manipulator/goal_joint_position
   type= sensor_msgs/JointState
   desc= Subscribe goal position of joints
  }
  1{
   name= open_manipulator/goal_gripper_position
   type= sensor_msgs/JointState
   desc= Subscribe goal position of gripper
  }
}

param{
  0{
    name= /use_robot_name
    type= String
    default= open_manipulator
    desc= Set robot name
  }
  1{
    name= /device_name
    type= String
    default= /dev/ttyUSB0
    desc= Configure USB port name  
  }
  2{
    name= /baud_rate
    type= uint32_t
    default= 1000000
    desc= Configure baud rate for connecting Dynamixel
  }
  3{
    name= /protocol_version
    type= float
    default= 2.0
    desc= Configure protocol version for Dynamixel
  }
  4{
    name= /joint_controller
    type= string
    default= position_mode
    desc= Configure operating mode for joint
  }
  5{
    name= /joint1_id
    type= uint8_t
    default= 1
    desc= Configure id for joint1
  }
  6{
    name= /joint2_id
    type= uint8_t
    default= 2
    desc= Configure id for joint2
  }
  7{
    name= /joint3_id
    type= uint8_t
    default= 3
    desc= Configure id for joint3
  }
  8{
    name= /joint4_id
    type= uint8_t
    default= 4
    desc= Configure id for joint4
  }
  9{
    name= /gripper_controller
    type= string
    default= current_mode
    desc= Configure operating mode for gripper
  }
  10{
    name= /gripper_id
    type= uint8_t
    default= 5
    desc= Configure id for gripper
  }
}

}
}}}