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dynamixel_workbench: message fields for single_manger to multi_port

asked 2018-03-30 16:16:33 -0500

RobotRob gravatar image

I am running ROS kinetic on Ubuntu 16.04.3 LTS (and kernal name 4.13.0-32-generic). I am working with the dynamixel_workbench stack. Specifically, I have a MX-106, an MX-64, and another MX-64 daisy-chained.

I want to get a rough estimate of torque output of motors over time. The message published to the topic /dynamixel/MX when I run single_manager.launch contains Present_Load, Present_Voltage, and Present_Temperature. I am interested in knowing these values when I run 3 motors.

When I run roslaunch my_dynamixel_workbench_tutorial multi_port.launch to control my 3 motors, the message published to /dynamixel_state does not contain those same fields I am interested in.

Is there a straightforward way to have the voltage/load/temperature fields published for multi_port (ideally without delving through the source code and creating my own custom overlay)?

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answered 2018-04-01 18:58:14 -0500

Darby Lim gravatar image

Hi :)

You can add your interest state. But this is only way to open the source code.

https://github.com/ROBOTIS-GIT/dynami...

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just to clarify, adding dynamixel_state[cnt].Present_Load =dxl_wb_[port_cnt]->itemRead(dxl_id_[port_cnt][index], "Present_Load"); to this list will work? Should I also have to edit the message file that is used to include an additional field?

RobotRob gravatar imageRobotRob ( 2018-04-01 20:59:07 -0500 )edit

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Asked: 2018-03-30 16:16:33 -0500

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Last updated: Apr 01 '18