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POST No. 2407925
How to setup dynamixels for a omniwheel robot with U2D2 (ROS)
2020-07-31 04:46:24 Altzi_21

Hi there!


I' m new to this topic and willing to learn... I want to setup the right configuration for the dynamixel motors in order to move my robot in a holonomic system. Any help will be appreciated.


2020-07-31 04:46:24
Altzi_21
2020-07-31 09:56:09 Will Son

Hi, 


I can provide more accurate solution if you can give me your DYNAMIXEL model name and firmware version.

In order to use DYNAMIXEL as a wheel, you can set it as Velocity Control Mode(X series / MX 2.0 series) or Wheel mode(MX 1.0 series).

You can use the encoder feedback with 4 byte Present Position(X / MX 2.0) value in order to calculate the odometry as well.


DYNAMIXEL Wizard 2.0 is free, powerful tool to manage DYNAMIXEL, and you can use it for testing and configuring your DYNAMIXEL via U2D2.

Thank you.

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2020-08-01 04:45:12 Altzi_21
I have 3 motors: XM430 -W210 -T and I want to configure them in order to controll them via ROS as well.
2020-08-01 04:45:12
Altzi_21
2020-07-31 09:56:09
willson
2020-08-03 11:04:57 Will Son

Hi,


In case of XM430-W210-T, you can set the Operating Mode(11) to 1 (Velocity Control Mode).

Then, update the Goal Velocity(104) value in order to control the RPM of DYNAMIXEL.

You refer to DYNAMIXEL SDK examples to send and receive digital packets between the controller and DYNAMIXEL.

Thank you.

2020-08-03 11:04:57
willson
2020-08-04 00:42:04 Altzi

Thanks for the support Willson! One last question:

What are the differences between dynamixel workbench and dynamixel SDK?

2020-08-04 00:42:04
Altzi_21
2020-08-04 08:59:32 Will Son

DYNAMIXEL Workbench was intended to be used in Linux for setting up the DYNAMIXEL.

However, since we have the DYNAMIXEL Wizard 2.0, it is recommended to use the official software.

It is recommended to use DYNAMIXEL SDK for ROS instead of the Workbench.

2020-08-04 08:59:32
willson
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