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hello everybody, i am new in ros and need to control 2 dynamixels (mx28r and mx106r). in the standard_mode the actuators rotate 360°. i read that in the wheel_mode its possible to use the dynamixels as normal motors. i already install the packages, but i cant find any information about it. do anybody know how i can switch the cases. thanks for the help.
hi there ! ...
you can set dynamixel motor in wheel mode with its manager software ... then there is a problem in ROS dynamixel package , you cant change rotation direction with set_speed service ! .
first download dynamixel stack packages from git , then use the function like this ...
def set_speed(self, speed):
mcv = (self.motor_id, speed)
self.dxl_io.set_multi_speed([mcv])
from joint_position_controller.py .
be aware change the speed service type from float64 to int32 , and then new range is
0 - 1023 CW
1024 - 2048 CCW
also the input is not radian / s speed ! , its dynamixel raw input then .
Hello, can you give a tutorial to install correctly the update of the dynamixel controller package. Can you also explain very precisely how to use the new fonction of the update, i'm a big noob in ROS and Linux, Thanks !
Asked: 2013-04-03 03:00:09 -0500
Seen: 1,132 times
Last updated: Apr 29 '15
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