Dynamixel 2.0 - Execute Joint Trajectories
Hello,
I have been using dynamixel_motor
package which provides joint_trajectory_action_controller.py
to send trajectory_msgs/JointTrajectory
to my manipulator. Is there something similar in DynamixelSDK or dynamixel_workbench? From what I can tell from their tutorials, it is only possible to send a single joint command (to either a single motor, or multiple connected motors).
Update (6/4/18):
dynamixel_motor package does this through set_multi_position_and_speed(self, valueTuples)
by calling self.sync_write(DXL_GOAL_POSITION_L, tuple(writeableVals))
with writeableVals = (sid, loPositionVal, hiPositionVal, loSpeedVal, hiSpeedVal)
. Would something like this work in dynamixel_workbench
by setting position and speed using Goal_Position
for ControlTableItem? If so, how would I call it using writeRegister()
?
Thanks
Sorry, that example is not supported in DynamixelSDK and Dynamixel Workbench. But you can get other example how to control manipulator using it in OpenManipulator
You can refer this link http://emanual.robotis.com/docs/en/so...
Do you know if it would work to send a goalPosition and goalSpeed at the same time, would they both be accepted or just one? If so, I might be able to use bulkWrite().