dynamixel_controllers

Summary

dynamixel_controllers
Version:

0.4.0
Description:

This package contains a configurable node, services and a spawner script to start, stop and restart one or more controller plugins. Reusable controller types are defined for common Dynamixel motor joints. Both speed and torque can be set for each joint. This python package can be used by more specific robot controllers and all configurable parameters can be loaded via a yaml file.
Maintainers:
  • Antons Rebguns <arebgun AT gmail DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Antons Rebguns
  • Cody Jorgensen
  • Cara Slutter
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Service types

dynamixel_controllers/StartController
Field (Request):
 
  • port_name (string) –
  • package_path (string) –
  • module_name (string) –
  • class_name (string) –
  • controller_name (string) –
  • dependencies[] (string) –
Field (Response):
 
  • success (bool) –
  • reason (string) – 
string port_name            # serial port that this controller is connected to
string package_path         # path to ROS package containing controller module
string module_name          # name of the controller module within that package
string class_name           # controller class name within that module
string controller_name      # path to controller config parameters on param server
string[] dependencies       # optional, list names of all controllers this controller depends on
---
bool success
string reason
dynamixel_controllers/SetCompliancePunch
Field (Request):
 
  • punch (uint8) –

See Dynamixel documentation for details

# See Dynamixel documentation for details

uint8 punch
---
dynamixel_controllers/SetTorqueLimit
Field (Request):
 
  • torque_limit (float64) –

Set maximum motor torque in percenatge (0 - no torque to 1 - maximum torque)

# Set maximum motor torque in percenatge (0 - no torque to 1 - maximum torque)

float64 torque_limit
---
dynamixel_controllers/SetComplianceSlope
Field (Request):
 
  • slope (uint8) –

See Dynamixel documentation for details

# See Dynamixel documentation for details

uint8 slope
---
dynamixel_controllers/StopController
Field (Request):
 
  • controller_name (string) –
Field (Response):
 
  • success (bool) –
  • reason (string) – 
string controller_name
---
bool success
string reason
dynamixel_controllers/TorqueEnable
Field (Request):
 
  • torque_enable (bool) – 
bool torque_enable
---
dynamixel_controllers/SetSpeed
Field (Request):
 
  • speed (float64) – 
float64 speed
---
dynamixel_controllers/SetComplianceMargin
Field (Request):
 
  • margin (uint8) –

Range is 0 to 255, larger value = more error

# Range is 0 to 255, larger value = more error

uint8 margin
---
dynamixel_controllers/RestartController
Field (Request):
 
  • port_name (string) –
  • package_path (string) –
  • module_name (string) –
  • class_name (string) –
  • controller_name (string) –
  • dependencies[] (string) –
Field (Response):
 
  • success (bool) –
  • reason (string) – 
string port_name            # serial port that this controller is connected to
string package_path         # path to ROS package containing controller module
string module_name          # name of the controller module within that package
string class_name           # controller class name within that module
string controller_name      # path to controller config parameters on param server
string[] dependencies       # optional, list names of all controllers this controller depends on
---
bool success
string reason