kondo_motor: Kondo Kagaku's ICS servo motor driver packages

This ROS package contains hardware interface to Kondo Kagaku's ICS motor system.

ICS (Interactive Communication System) is a kind of serial bus to control RC servo motors. Basically it can control measure its position. It has additional features such as setting gain, getting current.

kondo_motor is a ROS meta-package, contains the following two packages:

• kondo_driver: driver node for ICS servo motors
• kondo_msgs: message files for kondo_motor

Supported Hardware

ICS servo motors

• KRS-4031HV ICS
• KRS-4032HV ICS

The other KRS series servo motors are not checked with this package.

• Other KRS Series servo motors(ICS)

USB ICS Adapters

Two USB-ICS adapters are available on the Kondo's on-line store. Both adapters use the FTD232RL chip to interact with servo motors.

• ICS USB Adapter HS (product id:0006)
• Dual USB Adapter HS (product id:0008

Quick start

install device driver

You need to install ftdi_sio. Currently the KONDO's usb ICS adapters are not registered in the driver source code. You can setup the device using a script file as follows. You need to enter sudo password.

$ rosrun kondo_driver setup_device.sh

This script installs ftdt_sio module and set the target device IDs into /sys/bus/usb-serial/drivers/ftdi_sio/new_id. After this procedure, you should see /dev/ttyUSB* device file when the device is connected.

Setting servo ID.

Connect each servo and the adapter one to one. To set the servo ID, you can use ics_set_id.

$ rosrun kondo_driver set_ics_id <-d /dev/ttyUSB0> <-i id>

If you want to set the ID as 2,

$ rosrun kondo_driver set_ics_id -i 2
Current servo ID: 0
Set servo ID correctly: 2

After setting the id of each servo motor, you can connect your motors on the same bus.

Change config/driver_sample.yaml

The driver setting is described in a yaml file as ROS parameters. 'config/driver_sample.yaml' shows the example in which two motors (ID0, ID1) connected.

The servo_0 and servo_1 fields are the servo settings. Each field means:

• id: Servo's ICS id. The ID on the same bus must not be identical.
• joint_name: Name of the joint attached to the servo.

The following parameters are the interanal characteristics of each servo motor.

• min_anlge: Minimum angle of servo [deg]
• max_anlge: Maximum angle of servo [deg]
• stretch: stretch parameter
• speed: speed paramter
• current_limit: current limit parameter
• temperature_limit: temperature limit parameter

You can see more about each parameter from the ICS command reference.

• ICS 3.5 command reference(in Japanese)

Change config/controller_sample.yaml

The kondo_driver is fit for using ros_controllers. Check config/controller_sample.yaml for ros_control configuration. This example uses three type of controllers.

• joint_state_controller/JointStateController This controller publish the joint angle and velocity to the /joint_states.

• position_controllers/JointPositionController This controller receive the position command for the servo motor.

• velocity_controllers/JointVelocityController This controller receive the velocity command for the servo motor.

See the ros_control for more details.

Launch kondo_driver.launch to bring up driver.

The following sample launch file brings up the controllers.

$ roslaunch kondo_driver kondo_driver.launch

Command the servo

Initially all servo motors are free (not powered at all). You can use the service call to to power on the motor.

$ rosservce call /joint_0_position_controller/power_on "request: true"

Check if you can command the sevo position. Publish /joint_0_position_controller/command (std_msgs/Float64) to control joint angle. Unit is in radian.

$ rostopic pub -1 /joint_0_position_controller/command std_msgs/Float64 "data: 0.0"

TODO

• to command to set EEPROM parameters
• to swith the controller from/to position/vecocity controller