ROS_USB2Dynamixel控制turtlebotArm

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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

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