When a Dynamixel motor detects some dangerous situations, the motor goes torque off:
https://emanual.robotis.com/docs/en/dxl/mx/mx-28/#shutdown
However, we sometimes want the motor to ignore the error and continue working.
For example, when we use the motor in robotic fingers and these fingers grasp an object, these fingers should continue exerting strong force not to drop the object.
In that situation, the motor continues detecting a big load, easily goes into Overload Error, and torque off.
When a Dynamixel motor detects some dangerous situations, the motor goes torque off: https://emanual.robotis.com/docs/en/dxl/mx/mx-28/#shutdown However, we sometimes want the motor to ignore the error and continue working. For example, when we use the motor in robotic fingers and these fingers grasp an object, these fingers should continue exerting strong force not to drop the object. In that situation, the motor continues detecting a big load, easily goes into
Overload Error, and torque off.To avoid this problem, we can remove errors from
Shutdown(andAlarm LED) register of the motor to prevent torque off due to these errors. However, even when we do that, these errors are included in every response from the motor. dynamixel_motor detects them and prints many error messages (especially whenOverload Error): https://github.com/arebgun/dynamixel_motor/blob/3d842328641a8c62f90388a254e5efb12929c1ae/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py#L985-L1005 https://github.com/arebgun/dynamixel_motor/blob/3d842328641a8c62f90388a254e5efb12929c1ae/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py#L228-L238This PR enables to suppress that phenomenon by setting rosparam.