Updated and modified by Hoang Nguyen
ROS stack for interfacing with Robotis Dynamixel line of servo motors using Protocol 2.0. The new 16-bit CRC checksum was brought over from the pyxl320 package by Kevin Walchko https://github.com/MomsFriendlyRobotCompany/pyxl320.
Packet for Protocol 1.0 can be viewed here http://support.robotis.com/en/product/actuator/dynamixel/communication/dxl_packet.htm
Packet for Protocol 2.0 can be viewed here http://support.robotis.com/en/product/actuator/dynamixel_pro/communication/instruction_status_packet.htm
Please setup/update your Dynamixel Motors properly before using this package: (firmware setup/update can be done using R+ Manager 2.0 http://support.robotis.com/en/software/roboplus2/r+manager2/roboplus_manager2.htm):
- Baud rate: should be 1Mbps (different settings can be used, just modified the launch file)
- Protocol 2.0
- Flash the latest firmware onto the servo
- Just a side note, but for best result, modify the Return Delay Time field on the motor to 50 (100us), as the delay on rospy is not very precise, thus can cause annoying red errors...