Only released in EOL distros:  

open_manipulator: open_manipulator_control_gui | open_manipulator_controller | open_manipulator_description | open_manipulator_libs | open_manipulator_moveit | open_manipulator_teleop
Package LinksDependencies (6)
Used by (1)

Package Summary

Released
Documented

The Dynamixel controller package based on Dynamixel-Workbench for OpenManipulator.

Contents

  1. ROBOTIS e-Manual
    1. dynamixel_controller
      1. Subscribed Topics
      2. Published Topics
      3. Parameters

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

dynamixel_controller

Subscribed Topics

open_manipulator/goal_joint_position (sensor_msgs/JointState)
  • Subscribe goal position of joints
open_manipulator/goal_gripper_position (sensor_msgs/JointState)
  • Subscribe goal position of gripper

Published Topics

open_manipulator/joint_states (sensor_msgs/JointState)
  • Publish present position of Dynamixel

Parameters

/use_robot_name (String, default: open_manipulator)
  • Set robot name
/device_name (String, default: /dev/ttyUSB0)
  • Configure USB port name
/baud_rate (uint32_t, default: 1000000)
  • Configure baud rate for connecting Dynamixel
/protocol_version (float, default: 2.0)
  • Configure protocol version for Dynamixel
/joint_controller (string, default: position_mode)
  • Configure operating mode for joint
/joint1_id (uint8_t, default: 1)
  • Configure id for joint1
/joint2_id (uint8_t, default: 2)
  • Configure id for joint2
/joint3_id (uint8_t, default: 3)
  • Configure id for joint3
/joint4_id (uint8_t, default: 4)
  • Configure id for joint4
/gripper_controller (string, default: current_mode)
  • Configure operating mode for gripper
/gripper_id (uint8_t, default: 5)
  • Configure id for gripper

Wiki: open_manipulator_dynamixel_ctrl (last edited 2018-06-15 02:09:23 by Darby Lim)

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