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dynamixel-community / dynamixel_hardware

ros2_control packages for ROBOTIS Dynamixel
Apache License 2.0
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Torque control and motor rebooting #54

Open rosterloh opened 1 year ago

rosterloh commented 1 year ago

I'd really like to add the ability to enable and disable the torque at runtime as well as reboot a motor if a fault is detected. I was thinking a parameters would be a nice way to do the torque and a service/subscription for reboot but hardware_interface::SystemInterface does not allow this ability. Do you have any suggestions for how to implement this and still keep only one instance of DynamixelWorkbench?

gpicardi commented 6 months ago

Hi, I also need to add the option for rebooting motors. Have you found a solution for your work? Thanks!