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ROBOTIS-GIT / DynamixelSDK

ROBOTIS Dynamixel SDK (Protocol1.0/2.0)
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/
Apache License 2.0
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Velocity control using ROS 2 #608

Open Actat opened 8 months ago

Actat commented 8 months ago

ISSUE TEMPLATE ver. 1.2.0

Please fill this template for more accurate and prompt support.

  1. Which DYNAMIXEL SDK version do you use?

    • latest foxy-devel (92f7035)

  2. Which programming language/tool do you use?

    • C++, ROS

  3. Which operating system do you use?

    • Ubuntu 20.04

  4. Which USB serial converter do you use?

    • U2D2

  5. Which DYNAMIXEL do you use?

    • XM540-W150

  6. Have you searched the issue from the closed issue threads?

    • 127 implements velocity control using the older protocol.

    • 221 concerns how to obtain position information while performing velocity control.

    • 229 is about velocity control when using an Arduino.

  7. Please describe the issue in detail I want to use the dynamixel motor in velocity control mode. I need to get position information during control. I was able to run the motor in position control mode from ROS 2 using read_write_node in dynamixel_sdk_examples. However, read_write_node does not support velocity control mode. Is there another node that supports velocity control mode?

  8. How can we reproduce the issue?

shiba-8ro commented 8 months ago

agreement +1

Actat commented 7 months ago

I have found an unofficial way to solve my problem. Is there an official way?

https://github.com/Actat/DynamixelSDK/commit/84d759e97b83343ecc9903ff4dd73599fd23e475

anasderkaoui commented 5 months ago

Hello @Actat ! Can you please provide us with the full modifications that you did to the code. I am at the same page, I want to use an MX-106 servo in velocity mode but I cannot get it done. I modified the code accordingly to yours @Actat 84d759e (ADDRGOALVELOCITY 104 and id 1, addresses according to my servomotor) but the motor is still in position mode ! The command lines also seem to control position mode only: ros2 run dynamixel_sdk_examples read_write_node returns Something like "[GOAL Position: 0]" The other command also controls position : ros2 topic pub -1 /set_position dynamixel_sdk_custom_interfaces/msg/SetPosition "{id: 12, position: 1000}" Is there another command that you used other than these ones above ?