Revision history [back]

hi there ! ...

you can set dynamixel motor in wheel mode with its manager software ... then there is a problem in ROS dynamixel package , you cant change rotation direction with set_speed service ! .

first download dynamixel stack packages from git , then use the function like this ...

def set_speed(self, speed): mcv = (self.motor_id, speed) self.dxl_io.set_multi_speed([mcv])

from joint_position_controller.py .

be aware change the speed service type from float64 to int32 , and then new range is 0 - 1023 CW 1024 - 2048 CCW

also the input is not radian / s speed ! , its dynamixel raw input then .

hi there ! ...

you can set dynamixel motor in wheel mode with its manager software ... then there is a problem in ROS dynamixel package , you cant change rotation direction with set_speed service ! .

first download dynamixel stack packages from git , then use the function like this ...

def set_speed(self, speed):
        mcv = (self.motor_id, speed)
        self.dxl_io.set_multi_speed([mcv])
self.dxl_io.set_multi_speed([mcv])

0 - 1023 CW
1024 - 2048 CCW
CCW