Protocol 1.0 not supported?

yoshito-n-students / layered_hardware_dynamixel

A ros_control layer implementation for ROBOTIS Dynamixel actuators

MIT License

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Protocol 1.0 not supported? #4

Open andreagavazzi opened 3 years ago

andreagavazzi commented 3 years ago

It seems that only protocol 2.0 is supported as operating mode names for protocol 1.0 are only joint_mode and wheel_mode. When using Dynamixel on protocol 1.0 (like AX_18A) this error happens

OperatingModeBase::readItem(): Failed to read control table item 'Present_Velocity' of 'head_1_motor' (id: 1): [DynamixelTool] Can't find Item

I think because in protocol 1.0 present_velocity is called present_speed. Any chance to have a "joint_mode" operating mode?

yoshito-okada commented 3 years ago

Yes, layered_hardware_dynamixel only supports protocol 2.0 because I hardly see dynamixels with 1.0. Unfortunately I have no plan to support 1.0 for now, but a PR is always welcome.