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robotis.launch How to define motor parameters?

asked 2013-03-10 12:53:22 -0600

Zab gravatar image

updated 2013-03-10 12:56:58 -0600

Hello,

While working with pi_tracker I have been trying to get some Bioloid Dynamixel ax-12a motors to move with kinect input. I have managed to get input to to move the motors and am now wondering where I can define motor/joint ID's for the robotis.launch parameters.

I am unsure as to whether I am supposed to edit the dynamixel parameters(pi_tracker/params/dynamixels_params.yaml) or add to the robotis parameters(pi_tracker/params/robotis_params.yaml). Or is there another way to define my motor setup so that the proper motor moves?

Thank you for your time.

Installed:

Ubuntu 12.04 x64

fuerte

pi_tracker

robotis

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answered 2013-03-11 12:03:54 -0600

Pi Robot gravatar image

updated 2013-03-21 04:32:03 -0600

Hi @Zab,

The robotis package uses another config file in the bin directory of the pi_tracker package called servo_config.py. I believe that's the one you are looking for.

UPDATE: It turns out that there is also a servo_config.py file in the robotis package directory and that this file will override the one in the pi_tracker/bin directory. So you need to ensure that both files contain the same parameters. Two ways of doing this are as follows:

$ roscd robotis/src/robotis
$ roscp pi_tracker servo_config.py .

(That isolated "." at the end of the second line is required.) This method requires that you execute the above commands whenever you change the parameters in the pi_tracker copy.

Alternatively you could just symlink the two files like this:

$ roscd robotis/src/robotis
$ rm servo_config.py servo_config.pyc
$ ln -s `rospack find pi_tracker`/bin/servo_config.py .

This method will keep the robotis copy synced with the pi_tracker version.

--patrick

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Yes it is! Thanks again!

Zab gravatar imageZab ( 2013-03-11 15:32:40 -0600 )edit

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Asked: 2013-03-10 12:53:22 -0600

Seen: 144 times

Last updated: Mar 21 '13