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arebgun / dynamixel_motor

ROS stack for interfacing with Robotis Dynamixel line of servo motors.
BSD 3-Clause "New" or "Revised" License
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Add calib_required_joint_controller #101

Open pazeshun opened 2 years ago

pazeshun commented 2 years ago

Copy https://github.com/start-jsk/jsk_apc/blob/4.3.0/jsk_arc2017_baxter/src/jsk_arc2017_baxter/calib_required_joint_controller.py with small modification for new action

This PR adds a controller which decides motor origin by calibration (rotating the motor until its servo horn collides with an obstacle (limit)).

cf. https://github.com/pazeshun/dynamixel_motor/pull/7