Step 2.1 version of the Gelblaster AI Turret
Expects Robotis Dynamixel 2.0 firmware on a Pan & Tilt servo with ID 1 & 2 https://emanual.robotis.com/docs/en/dxl/mx/mx-28-2/
Also ensure the protocol speed is set to 3 to match the yaml config
$ cat ~/robotis_turret_ws/src/interbotix_ros_turrets/interbotix_ros_xsturrets/interbotix_xsturret_control/config/vxxms.yaml
port: /dev/ttyDXL
joint_order: [pan, tilt]
sleep_positions: [0, 0]
joint_state_publisher:
update_rate: 100
publish_states: true
topic_name: joint_states
groups:
turret: [pan, tilt]
motors:
pan:
ID: 1
Baud_Rate: 3
Return_Delay_Time: 0
Drive_Mode: 0
Velocity_Limit: 131
Min_Position_Limit: 0
Max_Position_Limit: 4095
Secondary_ID: 255
tilt:
ID: 2
Baud_Rate: 3
Return_Delay_Time: 0
Drive_Mode: 1
Velocity_Limit: 131
Min_Position_Limit: 1020
Max_Position_Limit: 3076
Secondary_ID: 255