search

ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
351 stars 151 forks source link

Using openmanipulator with an AX-12A #218

Closed Lantc26 closed 3 years ago

Lantc26 commented 3 years ago

Hello, we would like to use openmanipulator with an AX-12A. We already saw this post claiming, that no AX-12 servos are supported. We'd like to modify the code to support our robot. We already followed these advices and modified the code to match our robot. At the moment we get this error:

[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [TxRxResult] There is no status packet!
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed

This has probably to do with the unsupported AX12 servo. Thank you in advance

ROBOTIS-Will commented 3 years ago

Hi @Lantc26 Please understand that we do not provide a thorough technical support for customizing the product. Since open_manipulator packages are written for X series which runs off of DYNAMIXEL Procotol 2.0, converting them to support Protocol 1.0 will require a moderate level of rewriting source codes. Thank you.

Lantc26 commented 3 years ago

I see. We found a way to control the arm in a different way. So I close this issue now. Thank you anyway.

ghost commented 3 years ago

Hi @Lantc26,

I'm having the same issue. Would you mind sharing the solution you used?

casposos commented 3 years ago

Hi @alex-ssom, @Lantc26 and I used the https://github.com/ROBOTIS-GIT/dynamixel-workbench. We used the controller and operator packages. This is way more basic but we just need our robot/servos to move to specific positions. Therefore it is sufficient.