http://wiki.ros.org/dynamixel_interface
https://github.com/csiro-robotics/dynamixel_interface
Terminal_1 : roslaunch my_dynamixel_project dynamixel_interface_controller.launch
Terminal_2 : rostopic echo -w 5 -c /joint_states
Terminal_3 : rqt_topic
Terminal_4 : rqt Plugin-topic-message publisher (joint_statss / desired_~~ )
NUMBER_OF_DYNAMIXELS = 12 ['joint_1', 'joint2','joint_3', 'joint4','joint_5', 'joint6','joint_7', 'joint8','joint_9', 'joint10','joint_11', 'joint12']
[ 0.025, 0.025, 0.025, 0.025, 0.025, 0.025, 0.025, 0.025 , 0.025, 0.025, 0.025, 0.025 ]
[ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 , 0.0, 0.0, 0.0, 0.0 ]
NUMBER_OF_DYNAMIXELS = 6
['joint_1', 'joint2','joint_3', 'joint10','joint_11', 'joint12'']
[ 0.025, 0.025, 0.025, 0.025, 0.025, 0.025]
[ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]