Cant get torque value of Dynamixel AX-18A in PhantomX AX Metal Hexapod.

asked 2019-08-21 08:23:32 -0600

LockenKopf gravatar image

We used ROS kinetic on an Ubuntu 16.04 system to control 18 dynamixel servos through an ArbotiX-M micro-controller on which ros.h is running. After we programmed the robot to walk we now would like to measure the joint torque while walking. We tried using the info_dump.py from the dynamixel_driver package but it cant find the servos:

~/catkin_ws/src/dynamixel_motor/dynamixel_driver/scripts$ python info_dump.py --port=/dev/ttyUSB0 --baud=57600 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
Pinging motors:
1 ... error
2 ... error
3 ... error
4 ... error
5 ... error
6 ... error
7 ... error
8 ... error
9 ... error
10 ... error
11 ... error
12 ... error
13 ... error
14 ... error
15 ... error
16 ... error
17 ... error
18 ... error
ERROR: None of the specified motors responded. Make sure to specify the correct baudrate.

After trying to ping them the walking-program crashes, too. We also tried pinging our servos with the program mixcell which could not find them either.

Is there a way to get those torque-values, or voltage of each servo?

edit retag flag offensive close merge delete