Niryo Robot Debug Package

This package offer scripts to change ping / scan DXL motors and changes register values of these motors.

Niryo Robot - Send DXL Custom Value

This script can be launched via:

rosrun niryo_robot_debug send_custom_dxl_value.py

Parameters - Send DXL Custom Value

  • –type [Number]: Motor type (3 for XL-320, 2 for XL-430)
  • –id [Number]: Motor ID
  • –address [Number]: Register address to modify
  • –value [Number]: Value to store at the register address given
  • –size [Number]: Size in bytes of the value given

Niryo Robot - Dxl debug tools

This script can be launched via:

rosrun niryo_robot_debug dxl_debug_tools

Parameters - Dxl debug tools

  • –help / -h: Print help message
  • –baudrate / -b [Number]: Baudrate (1000000 by default)
  • –port / -p [Number]: Set port
  • –id / -i [Number]: Dxl motor ID (0 by default)
  • –scan: Scan all Dxl motors on the bus
  • –ping: Ping specific ID
  • –set-register [Number] [Number] [Number]: Set a value to a register, parameters are in the order: register address / value / size (in bytes) of the value