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Creating a dynamixel action client controller

asked 2017-09-28 11:04:20 -0500

Montes gravatar image

updated 2018-03-04 23:04:38 -0500

jayess gravatar image

I am following this tutorial: http://wiki.ros.org/dynamixel_control...

When I run the command

python trajectory_client.py

Controller Manager shows following:

[ERROR] [1506614244.445647]: Incoming trajectory joints do not match the joints of the controller.
[ERROR] [1506614244.454837]: Excepcion in ypur execute callback: not all arguments converted during string formatting.

I have reviewed everything but did not find the error.

Thank you very much for your help.

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answered 2018-03-04 18:36:21 -0500

There seems to be a mismatch between joint names. In line 37 of the dynamixel tutorial : arm = Joint('f_arm') you need to set the same name as in your motor driver, i.e. arm = Joint('joint0_position_controller')

here I post a snippet of our arm driver based on dynamixel_motor.

  <node pkg="dynamixel_controllers" type="controller_spawner.py" name="joint_position_controller_spawner" output="screen"
        args="--manager=cyton_manager
              --port left_arm_port
              --type=simple
              joint0_position_controller" />
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Thanks you very much for your help.

Montes gravatar image Montes  ( 2018-03-19 04:14:24 -0500 )edit

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Asked: 2017-09-28 11:04:20 -0500

Seen: 349 times

Last updated: Mar 04 '18