Maple Robot Motion Control Script

This script is designed to control the Maple robot with multiple Dynamixel motors using ROS (Robot Operating System). The script listens to a ROS topic (/motion_command) for commands to move the robot based on predefined motion configurations stored in JSON files.

Prerequisites

Before running this script, ensure that the following are installed and configured on your system:

1. ROS (Robot Operating System)

   • Ensure ROS is installed and properly configured on the system. This repository has been tested on ROS Noetic.

2. Dynamixel SDK

   • The script relies on the Dynamixel SDK to interface with the motors. For more details, refer to the official documentation: Dynamixel SDK Download.

3. Configuration Files

   • dr_r_config.py: This file defines the configuration parameters for the Maple robot.
   • MotionLib: This directory contains JSON files with motion configurations. To add a new motion, follow the JSON file template to create a new file under the MotionLib directory. For file format details, refer to motion.txt under the MotionLib directory.

DEMO

To see a demo of the Maple robot executing a motion:

Run the following command in your terminal:

rostopic pub /motion_command std_msgs/String "data: 'wave'"

This will trigger the robot to execute the motion defined in wave.json located in the MotionLib directory.