Dxl_debug_tools¶
This package offers 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