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dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

Package Summary

Released Continuous integration Documented

This package contains examples of applying the 'dynamixel_workbench_toolbox' library developed on the basis of dynamixel_sdk to various operating modes of Dynamixel.

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Nodes

position_control

position_control is Dynamixel position control example using toolbox library which is based on Dynamixel SDK. Two common Dynamixel series which set by position control mode are commanded by joint_operator.

Messages

Published Topics

/position_control/dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

/joint_command (dynamixel_workbench_msgs/JointCommand)

Parameters

/profile_velocity () /profile_acceleration ()

velocity_control

velocity_control is Dynamixel velocity control example using toolbox library which is based on Dynamixel SDK. Two common Dynamixel series which set by velocity control mode are commanded by wheel_operator.

Messages

Published Topics

/velocity_control/dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

/wheel_command (dynamixel_workbench_msgs/WheelCommand)

torque_control

torque_control is Dynamixel torque control example using toolbox library which is based on Dynamixel SDK. Two Dynamixels which set by torque control mode are commanded by joint_operator. Note: This packages only supports XM430-W350-R

Messages

Published Topics

/torque_control/dynamixel_state (dynamixel_workbench_msgs/MotorStateList)

Services

/joint_command (dynamixel_workbench_msgs/SetPosition)

Parameters

/p_gain () /d_gain ()

dynamixel_workbench_multi_port

dynamixel_workbench_multi_port is Dynamixel multi-port example using toolbox library which is based on Dynamixel SDK. Two Dynamixels which set by position control mode are commanded by joint_operator.

Messages

Published Topics

/multi_port/pan_state (dynamixel_workbench_msgs/DynamixelStateList) /multi_port/tilt_state (dynamixel_workbench_msgs/DynamixelStateList)

Services

/joint_command (dynamixel_workbench_msgs/JointCommand)

Tutorials

* dynamixel workbench controllers tutorials - This tutorial describes how to run controllers with tutorial packages.


2017-10-21 12:38