Add dynamixel_general_hw package #390
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…er present information (temperature, voltage)
…om emergency state
…t related to whether we can get current or load
…coming random if their definition order changes
…namixel to reading Dynamixel for avoiding reading error
… to prevent runaway when going back to normal state
….launch to README
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…e6 to make actuator drivable from the beginning
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@robotpilot @sunghowoo Sorry for bothering you, but how is the status of reviewing? |
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@pazeshun Sorry for the late reply. Due to the launch of a new team and the development of our Physical AI product line, we haven't been able to allocate sufficient resources to manage the DYNAMIXEL-Workbench. However, we are planning to resume management and create new content to help users utilize DYNAMIXEL more easily. We truly appreciate your contribution and will review it as quickly as possible. |
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Currently,
dynamixel_workbench_controllersdoes not have a follow_joint_trajectory action interface, which is the common interface to move robot joints.In addition, it does not support a reduction between an actuator and a joint.
Those features can be achieved by using ros_control, which is the common controller architecture in ROS (e.g., https://github.com/ROBOTIS-GIT/open_manipulator_controls ).
Previously, we usually write a hardware layer for each robot (
hardware_interface::RobotHW) usingDynamixelWorkbenchclass indynamixel_workbench_toolbox.Although that layer may include some features unique to each robot, it should also have a common part as long as it uses ros_control and
DynamixelWorkbenchclass.This PR extracts that common part and organizes it into
dynamixel_general_hwpackage.I think this package can be merged into dynamixel-workbench because this package purely depends on dynamixel-workbench packages and released common packages (e.g., ros_control packages).
Please try samples in https://github.com/pazeshun/dynamixel-workbench/tree/dynamixel-general-hw/dynamixel_general_hw#samples.