-
Notifications
You must be signed in to change notification settings - Fork 168
/
controller_manager.launch
39 lines (38 loc) · 1.96 KB
/
controller_manager.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
<!-- -*- mode: XML -*- -->
<launch>
<!-- Start Dynamixel controller manager -->
<!-- 'namespace' is the name of this manager (it has to be a valid ROS graph name). -->
<!-- 'serial_ports' contains a map of serial ports with all their configuration paramters. -->
<!-- It is possible to specify multiple ports for a single controller_manager. -->
<!-- Each port name also has to be a valid ROS graph name. -->
<!-- Once the controller manager start up it will provide serices to start, stop and restart -->
<!-- dynamixel controllers, e.g. the manager below with advertise the following: -->
<!-- 1. /dynamixel_controller_manager/dxl_tty1/start_controller -->
<!-- 2. /dynamixel_controller_manager/dxl_tty1/stop_controller -->
<!-- 3. /dynamixel_controller_manager/dxl_tty1/restart_controller -->
<!-- If the second serial port is uncommented, this manager will provide the same three -->
<!-- services but with different path, e.g. for the configuration below: -->
<!-- 4. /dynamixel_controller_manager/dxl_tty2/start_controller -->
<!-- 5. /dynamixel_controller_manager/dxl_tty2/stop_controller -->
<!-- 6. /dynamixel_controller_manager/dxl_tty2/restart_controller -->
<node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
<rosparam>
namespace: dynamixel_controller_manager
serial_ports:
dxl_tty1:
port_name: "/dev/ttyUSB0"
baud_rate: 1000000
min_motor_id: 1
max_motor_id: 30
update_rate: 10
<!--
dxl_tty2:
port_name: "/dev/ttyUSB1"
baud_rate: 1000000
min_motor_id: 10
max_motor_id: 20
update_rate: 15
-->
</rosparam>
</node>
</launch>