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