Dynamixel_driver¶
This package handles dynamixel motors communication through dynamixel sdk.
It provides an interface to dynamixel_sdk.
Dynamixel Driver Node¶
- The ROS Node is made to:
- Send commands to dynamixel motors
- Receive dynamixel motors data
Parameters - Dynamixel Driver¶
| Name | Description |
|---|---|
dxl_hardware_control_loop_frequency |
control loop frequency.
Default: ‘100.0’
|
dxl_hardware_write_frequency |
Write frequency.
Default: ‘50.0’
|
dxl_hardware_read_data_frequency |
Read frequency.
Default: ‘15.0’
|
dxl_hardware_read_status_frequency |
Read dynamixels status frequency.
Default: ‘0.5’
|
dxl_hardware_check_connection_frequency |
Check dynamixels connection frequency.
Default: ‘2.0’
|
dxl_motor_id_list |
list of dynamixels ID
Default: ‘[2,3,6]’
|
dxl_motor_type_list |
list of dynamixels type
Default: ‘[“xl430”,”xl430”,”xl320”]’
|
Services - Dynamixel Driver¶
| Name | Message Type | Description |
|---|---|---|
niryo_robot/dynamixel_driver/set_dxl_leds |
SetInt | Control dynamixel LED |
niryo_robot/dynamixel_driver/send_custom_dxl_value |
dynamixel_driver/SendCustomDxlValue | Send a custom dynamixel command |
Dependencies - Dynamixel Driver¶
Services & Messages files - Dynamixel Driver¶
SendCustomDxlValue (Service)¶
# Check XL-320 and XL-430 reference doc for
# the complete register table
int8 motor_type # 3 (XL-320) or 2 (XL-430)
uint8 id
int32 value
int32 reg_address
int32 byte_number
---
int32 status
string message
DxlMotorHardwareStatus (Message)¶
niryo_robot_msgs/MotorHeader motor_identity
uint32 temperature
float64 voltage
uint32 error
string error_msg
DxlMotorCommand (Message)¶
uint8 cmd_type
uint8 CMD_TYPE_POSITION=1
uint8 CMD_TYPE_VELOCITY=2
uint8 CMD_TYPE_EFFORT=3
uint8 CMD_TYPE_TORQUE=4
uint8[] motors_id
uint32[] params
DxlArrayMotorHardwareStatus (Message)¶
std_msgs/Header header
dynamixel_driver/DxlMotorHardwareStatus[] motors_hw_status