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Are you using dynamixel_motor package to control the Dynamixels.

tutorial

Are you using dynamixel_motor package to control the Dynamixels. Dynamixels?

tutorial

Are you using dynamixel_motor package to control the Dynamixels?

tutorialWhen I use this, I do not use the joint_state_publisher node from demo.launch. Instead, I use the dynamixel joint state publisher written for the Pi Robot project, can be found here. This will allow MoveIt! to still access the current joint states of the robot using topic /joint_states.

In order to move the robot using MoveIt!, I create a publisher for the dynamixel controller, and send it the move_group plan.trajectory_.joint_trajectory (C++) or plan.joint_trajectory (python).