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can't move dynamixel using joint_state_publisher [closed]

asked 2017-03-09 10:22:34 -0600

srh gravatar image

Hi

I'm reading the book "Mastering ROS for Robotics Programming" and I'm trying use the end section of chapter 10 to move my own robotic arm with moveit! for about a week.

There is a problem: moveit! (joint_state_publisher node actually) can read dynamixels' position &.... as it subscribe the /state topics; but I can't command them to go to the goal positions.

Even when I launch joint_state_publisher with GUI, the GUI show the current position but it don't allow me to change motors' position. But I can do it by run a rostopic pub on the /command topic manually.

I can't understand where i'm wrong. Can you help me to solve the problem?

Thanks

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2018-04-27 14:12:23.320103

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answered 2017-03-09 22:50:46 -0600

JoshMarino gravatar image

updated 2017-03-10 16:20:12 -0600

Are you using dynamixel_motor package to control the Dynamixels?

When 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).

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yes. I use them & I read the tutorials. They also use rostopic manually.

srh gravatar imagesrh ( 2017-03-09 23:27:51 -0600 )edit

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Asked: 2017-03-09 10:22:34 -0600

Seen: 265 times

Last updated: Mar 10 '17