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Hi Victor, firs of all, thank you for your answer. But it's like that: In my config-file I define 2 Motors, one with id1 and one with the id2. The second motor just is not recognized by ros. I will add my config file tommorow so that you can have a look at it.

Hi Victor, firs of all, thank you for your answer. But it's like that: In my config-file I define 2 Motors, one with id1 and one with the id2. The second motor just is not recognized by ros. I will add Now here is my config file tommorow so that you can have a look at it.servo_config.py:

1: {'name': 'head_pan_joint', 
    'home_encoder': 1024,
    'max_speed': radians(200),
    'max_ang': radians(160),
    'min_ang': radians(-160)
   },
2: {'name': 'head_tilt_joint',
    'home_encoder': 0,
    'max_speed': radians(200),
    'max_ang': radians(90.),
    'min_ang': radians(-90.)
   }

Hi Victor, firs of all, thank you for your answer. But it's like that: In my config-file I define 2 Motors, one with id1 and one with the id2. The second motor just is not recognized by ros. Now here is I added my servo_config.py:

from math import radians

port = '/dev/ttyUSB0'

servo_param = {

1: {'name': 'head_pan_joint', 
    'home_encoder': 1024,
    'max_speed': radians(200),
    'max_ang': radians(160),
    'min_ang': radians(-160)
   },
2: {'name': 'head_tilt_joint',
    'home_encoder': 0,
    'max_speed': radians(200),
    'max_ang': radians(90.),
    'min_ang': radians(-90.)
   }

}servo_config.py in my question above

Sometimes my System doesn't find id1 and sometimes it doesn't find id2.

Hi Victor, firs THE SOLUTION. First of all, thank you all thanks again for your answer. But it's like that: In all those that answered my config-file I define 2 Motors, one with id1 and one with the id2. The second motor just is not recognized by ros. Now I added my servo_config.py in my question abovequestion.

Sometimes my System doesn't find id1 We tried a Program under Windows to check if our servos were damaged. There we found out that there is an id preinstalled by Robotis for every motor. In both cases this id had the value 1. So every time we tried to get the motors online our controller found the first motor with id = 1 and sometimes added it doesn't find id2.to the list. But then there was no servo with the id = 2 as we indicated in the config-file. With the dynamixel-windows-program we could change the motor ids so that we got the values we needed.