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          ROS Software Maintainer: ROBOTIS

          ROBOTIS e-Manual

          dynamixel_controller

          Subscribed Topics

          open_manipulator/goal_joint_position (sensor_msgs/JointState)
          • Subscribe goal position of joints
          open_manipulator/goal_gripper_position (sensor_msgs/JointState)
          • Subscribe goal position of gripper

          Published Topics

          open_manipulator/joint_states (sensor_msgs/JointState)
          • Publish present position of Dynamixel

          Parameters

          /use_robot_name (String, default: open_manipulator)
          • Set robot name
          /device_name (String, default: /dev/ttyUSB0)
          • Configure USB port name
          /baud_rate (uint32_t, default: 1000000)
          • Configure baud rate for connecting Dynamixel
          /protocol_version (float, default: 2.0)
          • Configure protocol version for Dynamixel
          /joint_controller (string, default: position_mode)
          • Configure operating mode for joint
          /joint1_id (uint8_t, default: 1)
          • Configure id for joint1
          /joint2_id (uint8_t, default: 2)
          • Configure id for joint2
          /joint3_id (uint8_t, default: 3)
          • Configure id for joint3
          /joint4_id (uint8_t, default: 4)
          • Configure id for joint4
          /gripper_controller (string, default: current_mode)
          • Configure operating mode for gripper
          /gripper_id (uint8_t, default: 5)
          • Configure id for gripper

          Wiki: open_manipulator_dynamixel_ctrl (2018-06-15 02:09:23由Darby Lim編輯)

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