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POST No. 2407681
[ROS supported Dynamixel Package]
2019-11-26 09:46:08 ashokorea

Hi,

This is related to my on going search for Fully supported Dynamixel package based on ROS. I have gone through many of the posts queried about which package is best for Dynamixels based on ROS. There are like dynamixel_motor, dynamixel_controllers, dynamixel_workbench, dynamixel_sdk...etc.

Since i am continuously using Dynamixel from Robotis, i wish to carry on the same while working with ROS expecting support from Robotis, so please suggest me which ROS dynamixel package is official and best to be used with XL430W250T, in addition to use all the possible working functionality with this dynamixel actuator. Also please suggest me the way of setting up the ROS dynamixel package including test examples.

Thanks!

2019-11-26 09:46:08
ashokorea
2019-11-27 15:06:13 Ashok

Moreover I tried with http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#api-references to download following packages:
-DynamixelSDK

-dynamixel-workbench

-dynamixel-workbench-msgs

but failed to run 'catkin_make' OR 'catkin_make_isolated'.

Please help.

2019-11-27 15:06:13
ashokorea
2019-12-03 12:24:41 Ashok

Hi,

Could anybody please suggest me the solution?


BR,

/Ash

2019-12-03 12:24:41
ashokorea
2019-12-03 15:04:06 Will Son

Hi,


I'm sorry for the delayed response.

DYNAMIXEL SDK is directly maintained from ROBOTIS and can be supported if there's an issue with the library so I recommend to use it in your ROS environment.

If you are downloading the repository, make sure that you are downloading them in the "src" folder of your catkin workspace.

Please see below examples of installing ROBOTIS packages for OP3

http://emanual.robotis.com/docs/en/platform/op3/recovery/#installing-robotis-ros-packages

Thank you.

comment
2019-12-03 17:10:48 ashokorea
Thank you @willson for your reply. I followed the same and downloaded DYNAMIXEL SDK repository in "/ros_catkin_ws/src" folder and compiled using "catkin_make". but how to proceed after (any tutorial)?
since i was trying to get the dynamixel info "find_dynamixel" to confirm my connection where I connected the dynamixel to my board through U2D2 accessing /dev/ttyUSB0 port from "dynamixel-workbench/dynamixel_workbench_controllers/src/find_dynamixel.cpp" . but failed.
Please suggest! Thanks
2019-12-03 17:10:48
ashokorea
2019-12-03 15:04:06
willson
2019-12-06 05:18:50 Will Son

Hi,


Please follow the instruction below to build and run the cpp examples.

http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/#cpp-linux


Thank you.

comment
2019-12-06 10:18:27 ashokorea
@willson: Thanks for sharing the link but since i need to use the application based on ROS. This SBC running application based on dynamixelSDK, I have already figured out individually and tested well.

Now since i setup ROS on my RPi, i need to test the application which followed the ROS protocol,may I please know something (tutorial on creating modules/services/publishing/examples mainly based on dynamixel ROS) about that. According to this i installed dynamixel_workbench and dynamixelSDK as well.
https://answers.ros.org/question/261887/which-dynamixel-package-shoud-be-used/
Please correct me if i misunderstood something.
Thanks!
2019-12-06 10:18:27
ashokorea
2019-12-06 05:18:50
willson
2019-12-07 10:42:35 Will Son

Hi,


Please take a look at below eManual to learn more about DYNAMIXEL Workbench for ROS.

http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#tutorials


Unfortunately, there's no specific tutorial for creating ROS program based on our library, please refer to below wiki for more information.

http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29 


Thank you.

2019-12-07 10:42:35
willson
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