start-jsk/denso

(Question on answers) Can the DENSO VS060 package run the DENSO VE026A arm?

Closed this issue · 5 comments

garaemon commented

Hmm...

As @k-okada said, If VE026A supports BCap, it should work.

But we need to update denso controller a little bit because it has several hard-coding parameters such as the number of actuators.
It's not so difficult to fix

#19

mcross8 commented

Thanks for the reply! The VE026A does run in slave mode, however it requires a serial connection rather than an Ethernet.

For example the VE026A is connected as a serial device (ttyUSB0 on my Ubuntu box). Does the current Denso controller seek serial devices or just Ethernet connected devices?

k-okada commented

Currently denso package only supports ethernet, I filed a new ticket #20, @mcross8, if you have example code for serial connection, please provide us, to improve development.

mcross8 commented

I do not know the state of this code, nor am I familiar enough with ROS to try to implement it myself:

https://code.google.com/p/hiveground-ros-pkg/source/browse/controllers/denso/

130s commented

I guess enough good conversation happened so now I close this. @mcross8 if you have more to say please feel free to add / reopen and continue.