Technical Maintainer: ipa-nhg (Nadia Hammoudeh Garcia, Fraunhofer IPA)
This repository holds packages for hardware launch files and configuration, as well as the simulation model for starting up the basic layer for operating Robotino
Install the package dependencies:
rosdep install --from-path squirrel_robotino -i -y
We are using Dynamixel servos in the pan/tilt unit. The ROS package for these is dynamixel_driver. To see if servos are connected, powered and generally ok, call info_dump with a specific baud rate (57142) and with the servo IDs, which should be 1 and 2. If you do not find the servos, you can try up to 254.
> rosrun dynamixel_driver info_dump.py -b 57142 1 2
Pinging motors:
1 ... done
Motor 1 is connected:
Freespin: False
Model ------------------- MX-28 (firmware version: 36)
Min Angle --------------- 0
Max Angle --------------- 4095
Current Position -------- 65
Current Speed ----------- 0
Current Temperature ----- 33°C
Current Voltage --------- 11.7v
Current Load ------------ 0
Moving ------------------ False
...
If you get a new servo, its ID will be set to 1. Use change_id, e.g. to 2:
> rosrun dynamixel_driver change_id.py -b 57142 1 2
Changing motor id from 1 to 2... done
Verifying new id... ERROR: The motor did not respond to a ping to its new id.
Never mind the error. Just call info_dump again to see that the servo now is set correctly.