lukeschmitt-tr
commented
2 years ago Hi @dazednconfusing. Below is a table of the servos, their names, their IDs, and their baudrates.
| ID | Joint Name | Servo | Baudrate |
|---|---|---|---|
| 1 | waist | XM430-W350 | 1Mbps |
| 2 | shoulder | XM430-W350 | 1Mbps |
| 3 | shoulder_shadow | XM430-W350 | 1Mbps |
| 4 | elbow | XM430-W350 | 1Mbps |
| 5 | elbow_shadow | XM430-W350 | 1Mbps |
| 6 | forearm_roll | XM430-W350 | 1Mbps |
| 7 | wrist_angle | XM430-W350 | 1Mbps |
| 8 | wrist_rotate | XL430-W250 | 1Mbps |
| 9 | gripper | XL430-W250 | 1Mbps |
| 10 | pan | 2XL430-W250 | 1Mbps |
| 11 | tilt | 2XL430-W250 | 1Mbps |
What happened?
Hi,
Can I please get a list of the dynamixel Locobot wx250 6dof motor models and what their default values should be in the dynamixel2 wizard, especially the id? I believe I need to factory reset to fix the following issue and then manually reset the default values in the wizard as the wizard cannot even find the motors.
Running:
roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_cameraResults in:
[ERROR] [1636917225.053295919]: [xs_sdk] Can't find Dynamixel ID '11', Joint Name : 'tilt' [ERROR] [1636917225.329180603]: [xs_sdk] Can't find Dynamixel ID '2', Joint Name : 'shoulder' [ERROR] [1636917225.365294906]: [xs_sdk] Can't find Dynamixel ID '10', Joint Name : 'pan' [ERROR] [1636917225.497168871]: [xs_sdk] Can't find Dynamixel ID '1', Joint Name : 'waist' [ERROR] [1636917225.497222294]: [xs_sdk] Could not find all motors. Shutting down...
And further:
The dynamixel wizard cannot find them searching over all ids, protocols, and baud rates:
Note: There used to be an issue where there were two devices with IDs 1 and 2 found but one pair had baud rate 1mbps and the other with 57600. However, after changing the baud rates of the latter to 1mbps only IDs 3-9 are being found (with the most exhuastive scan).
Robot Model
locobot_wx250 6 dof
Operating System
Ubuntu 20.0.4
Steps To Reproduce
Run:
roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_cameraRelevant log output
Anything Else
No response