ros_dynamixel

This is a ROS Package developed by SRM Team Humanoid for controlling ROBOTIS Dynamixel smart servos and ROBOTIS FSR Sensors.

Requires Robotis Dynamixel-SDK c version installed.

Refer to Official Robotis DynamixelSDK page here for installation instructions for DynamixelSDK

How to Install

Clone the ROS Package into your catkin workspace src directory and run catkin_make

cd ~/catkin_ws/src/
git clone https://github.com/SRM-Team-Humanoid/ros_dynamixel.git
cd .. && catkin_make

Using ros_dynamixel package

To start the writer node in debug mode, the values are only printed and not written to the actuators, set the debug parameter true.

rosrun ros_dynamixel writer.py _debug:=true

The writer node subscribes to topic /pynamixel/actuation that uses Actuation message.

To learn about the actuation message format

rosmsg info ros_dynamixel/Actuation
fsr_reader node publishes the left and right foot FSR sensor readings into topic /pynamixel/fsr/left and /pynamixel/fsr/right respectively.

rosrun ros_dynamixel fsr_reader.py

These topics use FSR message. To learn about the FSR message format

rosmsg info ros_dynamixel/FSR

This package currently supports only Dynamixel MX series servos with protocol 1.0. Support for other motors and protocol 2.0 coming soon