ROS_USB2Dynamixel控制turtlebotArm

2019-11-11 04:53:32

字體：大中小

來源：轉載

供稿：網友

1 拷貝程序文件

cd ~/joey_ws/srcgit clone https://github.com/arebgun/dynamixel_motor.git

2 編譯文件

cd ~/joey_wscatkin_make

3 設置啟動驅動launch文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch/controller_manager.launch

<launch> <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen"> <rosparam> namespace: dxl_manager serial_ports: pan_tilt_port: port_name: "/dev/ttyUSB0" baud_rate: 1000000 min_motor_id: 1 max_motor_id: 25 update_rate: 20 </rosparam> </node> </launch>

4 運行驅動檢測舵機

連接USB2Dynamixel 運行Dynamixel控制器

要運行下面的指令，否則報錯： could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'

sudo chmod 666 /dev/ttyUSB0USB2Dynamixel連接USB接口，舵機連接USB2DYnamixel接口，舵機外部供電

roslaunch dynamixel_tutorials controller_manager.launch

ID 搜索默認從1~25 若查找不到，可以更改controller_manager.launch將ID搜索擴大

rostopic list

出現--> /motor_states/pan_tilt_port 則連接成功

5 設置舵機驅動文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/config/dynamixel_joint_controllers.yaml

id可根據舵機的實際情況修改，我的舵機id為1-5.

pan_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: pan_joint joint_speed: 2.0 motor: id: 5 init: 512 min: 0 max: 1023 tilt_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: tilt_joint joint_speed: 2.0 motor: id: 6 init: 512 min: 0 max: 1023

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch//controller_spawner.launch

<launch>  <rosparam file="$(find dynamixel_tutorials)/config/dynamixel_joint_controllers.yaml" command="load"/>  <node name="dynamixel_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py" args="--manager=dxl_manager --port=pan_tilt_port --type=simple pan_controller tilt_controller" output="screen"/> </launch>