ROS使用Dynamixel Package

●  對於Dynamixel 1.0 protocol的馬達，可以使用package [dynamixel-motor]。

1. $ sudo apt-get install ros-kinetic-dynamixel-motor
2. $ roslaunch dynamixel_tutorials contorller_manager.launch

●  但對於使 用Dynamixel 2.0 protocol的馬達，package dynamixel-motor會無法辨識。因此要改為使用dynamixel-workbench-controller

Step 1: Install ROS package

$ sudo apt-get install ros-kinetic-dynamixel-workbench-controller

Step 2: Create package

$ roscreate-pkg my_dynamixel_workbench_tutorial dynamixel_workbench_single_manager std_msgs roscpp

Step 3: Create a launch file for the single manager node

1. Make a launch file in ros package which we created

$ cd my_dynamixel_workbench_tutorial
$ mkdir launch
$ cd launch
$ vim single_manager.launch

2. Type or copy&paste code below to connect dynamixel_workbench_single manager packages and set parameters

<launch>
  <arg name="device_name" default="/dev/ttyUSB0"/>
  <arg name="baud_rate" default="115200"/>

  <param name="device_name"      value="$(arg device_name)"/>
  <param name="baud_rate"        value="$(arg baud_rate)"/>

  <node name="single_manager_tutorial" pkg="dynamixel_workbench_single_manager" type="dynamixel_workbench_single_manager" required="true" output="screen"/>
</launch>

3. Before we operating this package, we need to access permission for USB device

$ sudo chmod a+rw /dev/ttyUSB0

4. Now we can run tutorial package:

$ roslaunch my_dynamixel_workbench_tutorial single_manager.launch

Step 4: Check state of Dynamixel

Now, we can check a state of linked Dynamixel through /dynamixel_workbench_single_manager/motor_state topic:

$ rostopic echo /dynamixel_workbench_single_manager/motor_state

Step 5: Send command to Dynamixel

We operate a Dynamixel using command. Address names can be checked published message or using table command. 

 [CMD]torque_enable 1
 [CMD]goal_position 2048

#1. Run single_manager and single_manager_gui

And we run single_manager_gui:

$ rosrun dynamixel_workbench_single_manager_gui dynamixel_workbench_single_manager_gui

#2. Controlled by roscpp

github - test for ROS dynamixel_workbench_single_manager(set position)

參考資料：

ros dynamixel_workbench_single_manager/Tutorials