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csiro-robotics / shc_tutorials

Tutorials for using OpenSHC
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OpenSHC on X-series Dynamixels and Jetson Nano #3

Closed MatthewOliverKing closed 2 years ago

MatthewOliverKing commented 3 years ago

I am running into problems implementing OpenSHC on my hexapod with Jetson Nano (Melodic, Ubuntu 18.04) and Dynamixel XL-430 and 2XL-430 motors.

Since the X-series are newer than any tested on OpenSHC before, we have had to adapt the dynamixel_const.py file to suit the X-series control table, and change some of the dynamixel_io.py functions to return correct values. Pinging the motors and echoing the motor_states/dynamixel_port topic shows the information is being communicated correctly:

motostates

However, we have this debug error:

And a few node subscriptions (most noticeably the /syropod//_/command topics) are unconnected: ![CaveX_rqt_graph](https://user-images.githubusercontent.com/85664248/131776586-839849d3-a33a-4987-bf15-7b7fb216dd56.png) Our inkling is that it is a data type issue, but it's hard to put a finger on. Any assistance with this issue would be greatly appreciated!
benjamin-tam commented 2 years ago

Hi @MatthewOliverKing,

We have now open sourced https://github.com/csiro-robotics/dynamixel_interface which supports the X-series and is based off dynamixel_sdk. Hopefully this gives better results. The dynamixel_motor package is no longer supported.