Link to tutorial: http://wiki.ros.org/dynamixel_control...

SUMMARY

PARAMETERS * /dual_motor_controller/controller/module: joint_position_co... * /dual_motor_controller/controller/package: dynamixel_control... * /dual_motor_controller/controller/type: JointPositionCont... * /dual_motor_controller/joint_name: dual_motor * /dual_motor_controller/joint_speed: 1.17 * /dual_motor_controller/motor_master/id: 2 * /dual_motor_controller/motor_master/init: 512 * /dual_motor_controller/motor_master/max: 1023 * /dual_motor_controller/motor_master/min: 0 * /dual_motor_controller/motor_slave/id: 1 * /rosdistro: indigo * /rosversion: 1.11.19

NODES / dual_motor_controller_spawner (dynamixel_controllers/controller_spawner.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[dual_motor_controller_spawner-1]: started with pid [7126] [INFO] [WallTime: 1478583634.995191] USBtty0 controller_spawner: waiting for controller_manager dxl_manager 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

<launch> <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen"> <rosparam> namespace: dxl_manager serial_ports: pan_tilt_port: port_name: "/dev/ttyUSB0" baud_rate: 117647 min_motor_id: 1 max_motor_id: 2 update_rate: 20 </rosparam> </node> </launch>

dual_motor.yaml

dual_motor_controller: controller: package: dynamixel_controllers module: joint_position_controller_dual_motor type: JointPositionControllerDual joint_name: dual_motor joint_speed: 1.17 motor_master: id: 2 init: 512 min: 0 max: 1023 motor_slave: id: 1

start_dual_controller.launch

<launch> <rosparam file="$(find my_dynamixel_tutorial)/dual_motor.yaml" command="load"/> <node name="dual_motor_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py" args="--manager=dxl_manager --port USBtty0 dual_motor_controller" output="screen"/> </launch>

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