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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Adding dynamixel to TurtleBot3 while OpenCR board is in Turtlebot3_core configuration #110

Closed ghost closed 6 years ago

ghost commented 6 years ago

Hello, I carefully searched for this topic, but the only one I found that wrote about it never answered back. If I am right, the examples provided for DynamixelSDK are designed for the use with OpenCR1.0 board configured as USB2Dynamixel adapter. However, in my project we need to control further Dynamixels (ID 3, ID 4) while the OpenCR board is in _Turtlebot3core configuration.

Since I am completely new to this topic, I hope you can give me the right direction.

I thought about writing a class like Turtlebot3MotorDriver, include its functionality in the _Turtlebot3core.ino and upload this with ArduinoIDE. If I am right, most functions used in Turtlebot3MotorDriver are based on the DynamixelSDK.h, so I would have to make myself familiar with the dynamixel-sdk, right? But the dynamixel-workbench package would not be relevant for me in this case, right? This idea seems very difficult to me though, is there an easier way? Are there any examples in this direction?

Thanks a lot in advance.

routiful commented 6 years ago

Hello @newrobofreak :)

You mean you want to add two Dynamixels, right? Then you can get an information on TurtleBot3 Friends. Most of all, Mecanum example is used four Dynamixels. This example are help you.

Best regards Darby

ghost commented 6 years ago

Thanks a lot Darby, I did not see this example before. It is definitely the right direction. I do not plan to make a four-wheel drive though. I plan to use the TurtleBot3 as delivered with two Dynamixels for driving, laser-scanner and everything and just add the two Dynamixels for manipulation. Those two should later only rotate +/-45 degree in two joints of a manipulator. What I would need is something like the example, where the Open Manipulator is mounted on top. I could not find such an example for the ArduinoIDE under the examples though. Under the open_manipulator page there is a folder for TurtleBot3. But this does not include the OpenCR1.0 Arduino software, right? Or did I miss something? You are still working on this software if I read the e-Manual right. Is the above mentioned way with the Turtlebot3MotorDriver promising, or what would be your advise? Best regards :) Johannes

routiful commented 6 years ago

Hello :)

Thank you for your inquiry about OpenManipulator. Yes, I am working to develop library for OpenManipulator. But it is not included in OpenCR example yet.

Additionally, you can attach Dynamixel on Waffle-plate.

plug_cap11

Thanks Darby

ghost commented 6 years ago

Thanks a lot. Nice to know that you can connect them here as well. Modifying the files from the original Turtlebot core software worked fine for me (Turtlebot3_core.ino, Turtlebot3_core_config.h and Turtlebot3_motor_driver.h, Turtlebot3_motor_driver.cpp). I added Dynamixel with ID 3 and 4 and implemented a new group_sync_write for writing goal position to them. So I think, I can close this question for now. Thanks a lot for the fast answers again :)

tedalias commented 6 years ago

Hi @newrobofreak :) I am currently having kind of the same issue here, I just want to add a dynamixel as a manipulator to the TB3. Could you tell me roughly what changes you did to the mentioned files? Best regards:)

routiful commented 6 years ago

Hi :)

We are released TB3 with OpenManipulator last month. You can get an information about it in WiKi

TB3 Manipulation

Thanks

stevensu1838 commented 3 years ago

Thanks a lot. Nice to know that you can connect them here as well. Modifying the files from the original Turtlebot core software worked fine for me (Turtlebot3_core.ino, Turtlebot3_core_config.h and Turtlebot3_motor_driver.h, Turtlebot3_motor_driver.cpp). I added Dynamixel with ID 3 and 4 and implemented a new group_sync_write for writing goal position to them. So I think, I can close this question for now. Thanks a lot for the fast answers again :)

Thanks a lot. Nice to know that you can connect them here as well. Modifying the files from the original Turtlebot core software worked fine for me (Turtlebot3_core.ino, Turtlebot3_core_config.h and Turtlebot3_motor_driver.h, Turtlebot3_motor_driver.cpp). I added Dynamixel with ID 3 and 4 and implemented a new group_sync_write for writing goal position to them. So I think, I can close this question for now. Thanks a lot for the fast answers again :)

Hey buddy, Could you please share your customized code with me? Thanks a lot. email:stevensu1838@gmail.com