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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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Set serial timeout as property, not function call #57

Closed jonbinney closed 8 years ago

jonbinney commented 8 years ago

Ths is needed for the driver to work with the version of pyserial on Ubuntu 16.04, and so is needed for ROS kinetic. Otherwise the driver crashes because the Serial.setTimeout() function no longer exists:

 Traceback (most recent call last):
   File "/opt/iron_ox/src/third_party/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py", line 266, in <module>
     manager = ControllerManager()
   File "/opt/iron_ox/src/third_party/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py", line 107, in __init__
     serial_proxy.connect()
   File "/opt/iron_ox/src/third_party/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 99, in connect
     self.dxl_io = dynamixel_io.DynamixelIO(self.port_name, self.baud_rate, self.readback_echo)
   File "/opt/iron_ox/src/third_party/dynamixel_mo
tor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 68, in __init__
     self.ser.setTimeout(0.015)
 AttributeError: 'Serial' object has no attribute 'setTimeout'
 [dynamixel_manager-4] process has died [pid 16595, exit code 1, cmd /opt/iron_ox/src/third_party/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py __name:=dynamixel_manager __log:=/home

It looks like the property are the "correct" way to set the timeout now: https://github.com/pyserial/pyserial/issues/66

Could someone running indigo/14.04 check that this is backwards compatible?

jonbinney commented 8 years ago

Actually looks like merging https://github.com/arebgun/dynamixel_motor/pull/49 would do the trick. Closing this.