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hi, I interact with dynamixel motors using dynamixel_controllers. Is it possible to make the servos sending feedback at different rates ? For example i want the legs of the robot to send feedback more often than the arms. In manager.launch i can set the rate for all motors in one serial connection but i can't set different rates for motors inside the same serial connection.
Thanks in advance
No, it's not possible to set different polling rates for different sets of servos connected to the same serial bus. It would increase traffic on the serial bus and decrease the maximum polling rate possible. Right now we are just asking to get the updated info on all motors in one go. You could split the leg servos and connect them separately which would also increase the maximum feedback rate as you have less motors on the line to collect info from.
Right, the motors are polled at startup and then that list is not changed until the node is shut down. I think it would be possible to modify this list of motors at runtime and only query the motors associated with started joints. Could you open a feature enhancement ticket on github?
Asked: 2014-02-05 03:00:55 -0500
Seen: 619 times
Last updated: Feb 05 '14
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