ROS_USB2Dynamixel控制turtlebotArm

2019-11-11 05:41:06

字体：大中小

来源：转载

供稿：网友

1 拷贝程序文件

cd ~/joey_ws/srcgit clone https://github.com/arebgun/dynamixel_motor.git

2 编译文件

cd ~/joey_wscatkin_make

3 设置启动驱动launch文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch/controller_manager.launch

<launch> <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen"> <rosparam> namespace: dxl_manager serial_ports: pan_tilt_port: port_name: "/dev/ttyUSB0" baud_rate: 1000000 min_motor_id: 1 max_motor_id: 25 update_rate: 20 </rosparam> </node> </launch>

4 运行驱动检测舵机

连接USB2Dynamixel 运行Dynamixel控制器

要运行下面的指令，否则报错： could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'

sudo chmod 666 /dev/ttyUSB0USB2Dynamixel连接USB接口，舵机连接USB2DYnamixel接口，舵机外部供电

roslaunch dynamixel_tutorials controller_manager.launch

ID 搜索默认从1~25 若查找不到，可以更改controller_manager.launch将ID搜索扩大

rostopic list

出现--> /motor_states/pan_tilt_port 则连接成功

5 设置舵机驱动文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/config/dynamixel_joint_controllers.yaml

id可根据舵机的实际情况修改，我的舵机id为1-5.

pan_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: pan_joint joint_speed: 2.0 motor: id: 5 init: 512 min: 0 max: 1023 tilt_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: tilt_joint joint_speed: 2.0 motor: id: 6 init: 512 min: 0 max: 1023

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch//controller_spawner.launch

<launch>  <rosparam file="$(find dynamixel_tutorials)/config/dynamixel_joint_controllers.yaml" command="load"/>  <node name="dynamixel_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py" args="--manager=dxl_manager --port=pan_tilt_port --type=simple pan_controller tilt_controller" output="screen"/> </launch>