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PickNikRobotics / ros_control_boilerplate

Provides a simple simulation interface and template for setting up a hardware interface for ros_control
BSD 3-Clause "New" or "Revised" License
242 stars 89 forks source link

Working with Dynamixel Motors #7

Open mahumada opened 7 years ago

mahumada commented 7 years ago

Do you have any tips for me to get the boilerplate running with a custom Dynamixel based arm to do feedback control? For clarity, I have been able to get MoveIt! to control the Dynamixel motors using dynamixel_drivers.

davetcoleman commented 7 years ago

Perhaps you could gain some inspiration from this non-ros_control based Dynamixel driver? https://github.com/davetcoleman/clam/tree/indigo-devel/dynamixel_hardware_interface

It has a similar controller manager

dogoepp commented 7 years ago

Maybe you can also inspire from the software we use: https://github.com/resibots/dynamixel_control_hw/

You should be able to use it, but it's not a finished product.