ROS_USB2Dynamixel控制turtlebotArm

转自 https://blog.csdn.net/hanshuning/article/list/2的博客

一，1 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

二，https://www.ncnynl.com/archives/201611/1116.html