ROS_USB2Dynamixel控制turtlebotArm

1 拷贝程序文件

cd ~/joey_ws/src

git clone https://github.com/arebgun/dynamixel_motor.git

2 编译文件

cd ~/joey_ws

catkin_make

3 设置启动驱动launch文件

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

<!-- -*- mode: XML -*- -->
<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 运行驱动检测舵机

连接USB2Dynamixel 运行Dynamixel控制器

要运行下面的指令，否则报错： could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0'

sudo dmesg -c

sudo chmod 666 /dev/ttyUSB0

USB2Dynamixel连接USB接口，舵机连接USB2DYnamixel接口，舵机外部供电

roslaunch dynamixel_tutorials controller_manager.launch

ID 搜索默认从1~25 若查找不到，可以更改controller_manager.launch将ID搜索扩大

rostopic list

出现--> /motor_states/pan_tilt_port 则连接成功

5 设置舵机驱动文件

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

id可根据舵机的实际情况修改，我的舵机id为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

<!-- -*- mode: XML -*- -->
<launch>
<!-- Load controller configuration to parameter server -->
<rosparam file="$(find dynamixel_tutorials)/config/dynamixel_joint_controllers.yaml" command="load"/>

<!-- start specified joint controllers -->
<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>

6 运行舵机驱动话题

roslaunch dynamixel_tutorials controller_spawner.launch

rostopic list

出现：/tilt_controller/command /pan_controller/command 则运行成功

7 控制舵机

rostopic pub /pan_controller/command std_msgs/Float64 -- 1.5

rostopic pub /tilt_controller/command std_msgs/Float64 -- 1.5

/left_arm_shoulder_pan_joint/command是话题名称，代表舵机关节

std_msgs/Float64是话题类型

1.5 是舵机转动的弧度