dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

Package Summary

It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

Maintainer status: developed
Maintainer: Pyo <pyo AT robotis DOT com>, Darby Lim <thlim AT robotis DOT com>
Author: Darby Lim <thlim AT robotis DOT com>
License: Apache 2.0
Bug / feature tracker: https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues
Source: git https://github.com/ROBOTIS-GIT/dynamixel-workbench.git (branch: kinetic-devel)

dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

Package Summary

It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

Maintainer status: developed
Maintainer: Pyo <pyo AT robotis DOT com>, Darby Lim <thlim AT robotis DOT com>
Author: Darby Lim <thlim AT robotis DOT com>
License: Apache 2.0
Bug / feature tracker: https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues
Source: git https://github.com/ROBOTIS-GIT/dynamixel-workbench.git (branch: melodic-devel)

Contents

ROBOTIS e-Manual
ROS API
Tutorials

ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROBOTIS e-Manual for Dynamixel-Workbench

ROS API

position_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Get commands and write value to Goal Position address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)

Configure USB port name

/baud_rate (uint32_t, default: 57600)

Configure baud rate for connecting Dynamixel

/scan_range (uint8_t, default: 10)

Configure scan range for connecting Dynamixel

/profile_velocity (uint32_t, default: 200)

Velocity Value of Profile

/profile_acceleration (uint32_t, default: 50)

Acceleration Value of Profile

velocity_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Provides some states for connected Dynamixel by reading control table.

Services

velocity_command (dynamixel_workbench_msgs/WheelCommand)

Get commands and write value to Goal Velocity or Moving Speed address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)

Configure USB port name

/baud_rate (uint32_t, default: 57600)

Configure baud rate for connecting Dynamixel

/left_wheel (uint8_t, default: 1)

Configure ID of Dynamixel

/right_wheel (uint8_t, default: 2)

Configure ID of Dynamixel

/profile_velocity (uint32_t, default: 200)

Velocity Value of Profile

/profile_acceleration (uint32_t, default: 50)

Acceleration Value of Profile

torque_control

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Get commands and write value to Goal Current address in control table of connected Dynamixel

Parameters

/device_name (String, default: /dev/ttyUSB0)

Configure USB port name

/baud_rate (uint32_t, default: 3000000)

Configure baud rate for connecting Dynamixel

/pan_id (uint8_t, default: 1)

Configure ID of Dynamixel

/tilt_id (uint8_t, default: 2)

Configure ID of Dynamixel

/p_gain (float, default: 0.003)

Set p gain for PID feedback control

/d_gain (float, default: 0.00002)

Set d gain for PID feedback control

multi_port

Published Topics

dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)

Provides some states for connected Dynamixel by reading control table.

Services

joint_command (dynamixel_workbench_msgs/JointCommand)

Get commands and write value to Goal Current address in control table of connected Dynamixel

Parameters

/pan_device_name (String, default: /dev/ttyUSB0)

Configure USB port name

/pan_baud_rate (uint32_t, default: 57600)

Configure baud rate for connecting Dynamixel

/tilt_device_name (String, default: /dev/ttyUSB1)

Configure USB port name

/tilt_baud_rate (uint32_t, default: 57600)

Configure baud rate for connecting Dynamixel

/scan_range (uint8_t, default: 10)

Configure scan range for connecting Dynamixel

/profile_velocity (uint32_t, default: 200)

Velocity Value of Profile

/profile_acceleration (uint32_t, default: 50)

Acceleration Value of Profile

Tutorials

* dynamixel workbench controllers tutorials - This tutorial describes how to run controllers with tutorial packages.