Link to tutorial: http://wiki.ros.org/dynamixel_controllers/Tutorials/Creating%20a%20dual%20joint%20position

SUMMARY

PARAMETERS * /dualmotorcontroller/controller/module: jointpositionco... * /dualmotorcontroller/controller/package: dynamixelcontrol... * /dualmotorcontroller/controller/type: JointPositionCont... * /dualmotorcontroller/jointname: dualmotor * /dualmotorcontroller/jointspeed: 1.17 * /dualmotorcontroller/motormaster/id: 2 * /dualmotorcontroller/motormaster/init: 512 * /dualmotorcontroller/motormaster/max: 1023 * /dualmotorcontroller/motormaster/min: 0 * /dualmotorcontroller/motor_slave/id: 1 * /rosdistro: indigo * /rosversion: 1.11.19

NODES / dualmotorcontrollerspawner (dynamixelcontrollers/controller_spawner.py)

ROSMASTERURI=http://localhost:11311

core service [/rosout] found process[dualmotorcontrollerspawner-1]: started with pid [7126] [INFO] [WallTime: 1478583634.995191] USBtty0 controllerspawner: waiting for controllermanager dxlmanager to startup in global namespace... shutdown request: new node registered with same name

(The process just could not proceed at this stage.)

These is our codes so far.

controller_manager.launch <!-- -- mode: XML -- -->

namespace: dxlmanager serialports: pantiltport: portname: "/dev/ttyUSB0" baudrate: 117647 minmotorid: 1 maxmotorid: 2 update_rate: 20

dual_motor.yaml

dualmotorcontroller: controller: package: dynamixelcontrollers module: jointpositioncontrollerdualmotor type: JointPositionControllerDual jointname: dualmotor jointspeed: 1.17 motormaster: id: 2 init: 512 min: 0 max: 1023 motorslave: id: 1

startdualcontroller.launch

<!-- Start dualmotor joint controller --> <rosparam file="$(find mydynamixeltutorial)/dualmotor.yaml" command="load"/>

So far, everything could work when we run using one motor(previous tutorial).