I am using Phantomx Pincher arm and arbotix-m board which is connected with five servos (dynamixel ax-12a).
imr@IMR-PC:~$ roslaunch rbx1_dynamixels dynamixels.launch
... logging to /home/imr/.ros/log/965baddc-b12a-11e7-95bb-002219055f3a/roslaunch-IMR-PC-29047.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
SUMMARY
========
PARAMETERS
* /dynamixel_manager/namespace: turtlebot_dynamix...
* /dynamixel_manager/serial_ports/dynamixel_ax12/baud_rate: 115200
* /dynamixel_manager/serial_ports/dynamixel_ax12/max_motor_id: 5
* /dynamixel_manager/serial_ports/dynamixel_ax12/min_motor_id: 1
* /dynamixel_manager/serial_ports/dynamixel_ax12/port_name: /dev/ttyUSB0
* /dynamixel_manager/serial_ports/dynamixel_ax12/update_rate: 20
* /head_pan_joint/controller/module: joint_position_co...
* /head_pan_joint/controller/package: dynamixel_control...
* /head_pan_joint/controller/type: JointPositionCont...
* /head_pan_joint/joint_name: head_pan_joint
* /head_pan_joint/joint_speed: 2.0
* /head_pan_joint/motor/id: 1
* /head_pan_joint/motor/init: 512
* /head_pan_joint/motor/max: 1024
* /head_pan_joint/motor/min: 0
* /head_tilt_joint/controller/module: joint_position_co...
* /head_tilt_joint/controller/package: dynamixel_control...
* /head_tilt_joint/controller/type: JointPositionCont...
* /head_tilt_joint/joint_name: head_tilt_joint
* /head_tilt_joint/joint_speed: 2.0
* /head_tilt_joint/motor/id: 2
* /head_tilt_joint/motor/init: 512
* /head_tilt_joint/motor/max: 800
* /head_tilt_joint/motor/min: 300
* /joints: ['head_pan_joint'...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 20.0
* /rosdistro: indigo
* /rosversion: 1.11.21
* /use_sim_time: False
NODES
/
dynamixel_controller_spawner_ax12 (dynamixel_controllers/controller_spawner.py)
dynamixel_joint_states_publisher (rbx1_dynamixels/dynamixel_joint_state_publisher.py)
dynamixel_manager (dynamixel_controllers/controller_manager.py)
odom_front_wheel_broadcaster (tf/static_transform_publisher)
odom_left_wheel_broadcaster (tf/static_transform_publisher)
odom_right_wheel_broadcaster (tf/static_transform_publisher)
relax_all_servos (rbx1_dynamixels/relax_all_servos.py)
robot_state_publisher (robot_state_publisher/state_publisher)
auto-starting new master
process[master]: started with pid [29062]
setting /run_id to 965baddc-b12a-11e7-95bb-002219055f3a
process[rosout-1]: started with pid [29075]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [29087]
process[dynamixel_manager-3]: started with pid [29093]
process[dynamixel_controller_spawner_ax12-4]: started with pid [29095]
process[dynamixel_joint_states_publisher-5]: started with pid [29103]
process[relax_all_servos-6]: started with pid [29108]
process[odom_left_wheel_broadcaster-7]: started with pid [29109]
process[odom_right_wheel_broadcaster-8]: started with pid [29111]
process[odom_front_wheel_broadcaster-9]: started with pid [29120]
[INFO] [WallTime: 1508018214.945659] dynamixel_ax12 controller_spawner: waiting for controller_manager turtlebot_dynamixel_manager to startup in global namespace...
[INFO] [WallTime: 1508018215.013592] Starting Dynamixel Joint State Publisher at 20Hz
[INFO] [WallTime: 1508018215.774542] dynamixel_ax12: Pinging motor IDs 1 through 5...
[FATAL] [WallTime: 1508018216.189219] dynamixel_ax12: No motors found.
================================================================================REQUIRED process [dynamixel_manager-3] has died!
process has died [pid 29093, exit code 1, cmd /home/imr/catkin_ws/src/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py __name:=dynamixel_manager __log:=/home/imr/.ros/log/965baddc-b12a-11e7-95bb-002219055f3a/dynamixel_manager-3.log].
log file: /home/imr/.ros/log/965baddc-b12a-11e7-95bb-002219055f3a/dynamixel_manager-3*.log
Initiating shutdown!
================================================================================
[odom_front_wheel_broadcaster-9] killing on exit
[odom_right_wheel_broadcaster-8] killing on exit
[odom_left_wheel_broadcaster-7] killing on exit
[relax_all_servos-6] killing on exit
[dynamixel_controller_spawner_ax12-4] killing on exit
[dynamixel_manager-3] killing on exit
[robot_state_publisher-2] killing on exit
[dynamixel_joint_states_publisher-5] killing on exit
Traceback (most recent call last):
File "/home/imr/catkin_ws/src/rbx1/rbx1_dynamixels/nodes/relax_all_servos.py", line 80, in <module>
Relax()
File "/home/imr/catkin_ws/src/rbx1/rbx1_dynamixels/nodes/relax_all_servos.py", line 47, in __init__
rospy.wait_for_service(torque_service)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done