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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.


2018-04-21 12:36