Using dynamixel motor with roscontrol

[Sree]

Hai,

I wish to control dynamixel motor with ros control. I wants to use differential drive plugin for mobile base which uses dynamixel motors.Based on the understanding from  tutorials and roscon video of roscontrol I think ,I need to write control loop code and there I need to implement  read() and write() function for controlling dynamixel motor. Is it right? If my understanding is wrong ,then how it is? 

 

Thanks,

Sree

[Adolfo Rodríguez Tsouroukdissian]

On Tue, Jan 6, 2015 at 8:26 AM, Sree <vishnu...@gmail.com> wrote:

Hai,

I wish to control dynamixel motor with ros control. I wants to use differential drive plugin for mobile base which uses dynamixel motors.Based on the understanding from  tutorials and roscon video of roscontrol I think ,I need to write control loop code and there I need to implement  read() and write() function for controlling dynamixel motor. Is it right? If my understanding is wrong ,then how it is? 

Sree,

If you're setting up a diff-drive base, you can subclass hardware_interface::RobotHW, and expose read() and write() methods that talk to your Dynamixels. This robot hardware abstraction will likely expose two (velocity?) controlled joints.

Best,

Adolfo.

 

Thanks,

Sree

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