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dynamixel_workbench 3 wheel omnidirectional robot setup

asked 2020-08-08 13:49:16 -0500

evdo gravatar image

updated 2020-08-08 14:03:30 -0500

Hello guys, I'm building a 3 wheel omnidirectional robot and I have in my disposal 3 dynamixel motors and a jetson Xavier. I followed the tutorial in the ROBOTIS page all the way down but there was no support for such an occasion. I'm using dynamixel_workbench package and despite i switched the default wheel operator.cpp file with teleop_twist_keyboard_cpp, and edited the joint.yaml file, the only movement I take is forward and backward. What should I suppose to change to have the right kinematics? Thank you!

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answered 2020-08-09 10:29:52 -0500

Tahir M. gravatar image

updated 2020-08-09 10:30:10 -0500

Dynamixel WorkBench I think so is an example how can you use Dynamixel SDK. I will suggest you to calculate your robots linear and angular velocities and than just send the corresponding commands to your motors. There are very good examples given already. I think they are more than enough atleast to move a robot and an example(Python and CPP) how to use dynamixel motors and SDK.

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Thank you for your answer, i havent seen this repo before.

evdo gravatar image evdo  ( 2020-08-09 15:50:10 -0500 )edit

If this solve your problem you can accept the answer

Tahir M. gravatar image Tahir M.  ( 2020-08-12 11:39:21 -0500 )edit

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Asked: 2020-08-08 13:49:16 -0500

Seen: 60 times

Last updated: Aug 09 '20