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          dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

          Package Summary

          It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

          dynamixel_workbench: dynamixel_workbench_controllers | dynamixel_workbench_operators | dynamixel_workbench_single_manager | dynamixel_workbench_single_manager_gui | dynamixel_workbench_toolbox

          Package Summary

          It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

          ROS Software Maintainer: ROBOTIS

          ROBOTIS e-Manual

          ROS API

          position_control

          Published Topics

          dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
          • Provides some states for connected Dynamixel by reading control table.

          Services

          joint_command (dynamixel_workbench_msgs/JointCommand)
          • Get commands and write value to Goal Position address in control table of connected Dynamixel

          Parameters

          /device_name (String, default: /dev/ttyUSB0)
          • Configure USB port name
          /baud_rate (uint32_t, default: 57600)
          • Configure baud rate for connecting Dynamixel
          /scan_range (uint8_t, default: 10)
          • Configure scan range for connecting Dynamixel
          /profile_velocity (uint32_t, default: 200)
          • Velocity Value of Profile
          /profile_acceleration (uint32_t, default: 50)
          • Acceleration Value of Profile

          velocity_control

          Published Topics

          dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
          • Provides some states for connected Dynamixel by reading control table.

          Services

          velocity_command (dynamixel_workbench_msgs/WheelCommand)
          • Get commands and write value to Goal Velocity or Moving Speed address in control table of connected Dynamixel

          Parameters

          /device_name (String, default: /dev/ttyUSB0)
          • Configure USB port name
          /baud_rate (uint32_t, default: 57600)
          • Configure baud rate for connecting Dynamixel
          /left_wheel (uint8_t, default: 1)
          • Configure ID of Dynamixel
          /right_wheel (uint8_t, default: 2)
          • Configure ID of Dynamixel
          /profile_velocity (uint32_t, default: 200)
          • Velocity Value of Profile
          /profile_acceleration (uint32_t, default: 50)
          • Acceleration Value of Profile

          torque_control

          Published Topics

          dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
          • Provides some states for connected Dynamixel by reading control table.

          Services

          joint_command (dynamixel_workbench_msgs/JointCommand)
          • Get commands and write value to Goal Current address in control table of connected Dynamixel

          Parameters

          /device_name (String, default: /dev/ttyUSB0)
          • Configure USB port name
          /baud_rate (uint32_t, default: 3000000)
          • Configure baud rate for connecting Dynamixel
          /pan_id (uint8_t, default: 1)
          • Configure ID of Dynamixel
          /tilt_id (uint8_t, default: 2)
          • Configure ID of Dynamixel
          /p_gain (float, default: 0.003)
          • Set p gain for PID feedback control
          /d_gain (float, default: 0.00002)
          • Set d gain for PID feedback control

          multi_port

          Published Topics

          dynamixel_state (dynamixel_workbench_msgs/DynamixelStateList)
          • Provides some states for connected Dynamixel by reading control table.

          Services

          joint_command (dynamixel_workbench_msgs/JointCommand)
          • Get commands and write value to Goal Current address in control table of connected Dynamixel

          Parameters

          /pan_device_name (String, default: /dev/ttyUSB0)
          • Configure USB port name
          /pan_baud_rate (uint32_t, default: 57600)
          • Configure baud rate for connecting Dynamixel
          /tilt_device_name (String, default: /dev/ttyUSB1)
          • Configure USB port name
          /tilt_baud_rate (uint32_t, default: 57600)
          • Configure baud rate for connecting Dynamixel
          /scan_range (uint8_t, default: 10)
          • Configure scan range for connecting Dynamixel
          /profile_velocity (uint32_t, default: 200)
          • Velocity Value of Profile
          /profile_acceleration (uint32_t, default: 50)
          • Acceleration Value of Profile

          Tutorials

          * dynamixel workbench controllers tutorials - This tutorial describes how to run controllers with tutorial packages.

          Wiki: dynamixel_workbench_controllers (2018-04-12 04:50:30由Darby Lim編輯)

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