Add dynamixel_general_hw package#390
Open
pazeshun wants to merge 42 commits intoROBOTIS-GIT:masterfrom
Open
Conversation
…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
pazeshun
force-pushed
the
dynamixel-general-hw
branch
from
bc433f1 to
bc58352
Compare
…e6 to make actuator drivable from the beginning
pazeshun
force-pushed
the
dynamixel-general-hw
branch
from
b3cf394 to
6f4c640
Compare
Author
|
@robotpilot @sunghowoo Sorry for bothering you, but how is the status of reviewing? |
Member
|
@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. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
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.