Beginner needs help: ROS to control Dynamixel RX - 64 in Ubuntu 10.10 platform

[Zac Arackakudy]

Hey Everyone,

I am completely new to ROS. I used to control Dynamixel RX -64 using the
motion code I have written in visual C++ within windows platform. I recently
decided the embrace open source lifestyle and use Linux to run my robots. I
installed ROS and went through the tutorials briefly how to navigate among
the packages and how to create nodes and clients.

But I am still unable to understand how to control and run ros to move my
servos. Also how can I wrap ros around my previously written C code.

Sorry for asking such a silly question. I hope someone would be kind enough
to help me.
--
Best Regards,
Zac Suresh Arackakudyil

zac-***@public.gmane.org
Machinenwesen (Austausch)
Technishe Universität München

zacsuresh-6Bl98Hp8bEiLvajZxc+***@public.gmane.org
Mechanical Engineering Yr 3
Faculty of Engineering
National University of Singapore

CONFIDENTIALITY: This email, together with any attachment, is intended
solely for the use of the individual or entity to whom it is addressed, and
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[Ugo Cupcic]

Hi Zac,

Have you seen this tutorial page? http://www.ros.org/wiki/robotis

Hope it helps.

Cheers,

Ugo

Post by Zac Arackakudy
Hey Everyone,
I am completely new to ROS. I used to control Dynamixel RX -64 using the
motion code I have written in visual C++ within windows platform. I recently
decided the embrace open source lifestyle and use Linux to run my robots. I
installed ROS and went through the tutorials briefly how to navigate among
the packages and how to create nodes and clients.
But I am still unable to understand how to control and run ros to move my
servos. Also how can I wrap ros around my previously written C code.
Sorry for asking such a silly question. I hope someone would be kind enough
to help me.
--
Best Regards,
Zac Suresh Arackakudyil
Machinenwesen (Austausch)
Technishe Universität München
Mechanical Engineering Yr 3
Faculty of Engineering
National University of Singapore
CONFIDENTIALITY: This email, together with any attachment, is intended
solely for the use of the individual or entity to whom it is addressed, and
may contain information that is legally privileged and confidential.
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[Raphael Favier]

Hello Zak,

I used the http://www.ros.org/wiki/robotis robotis package succesfully
with Dynamixel servos.
if I remember correctly, It contains a whole set of Python tools to set your
servo's ID and controllers, as well as a node that will listen to servo's
commands and publish their current states.
Servos' setup is explained in the README file of the package.

If you are really new to ROS, make sure you follow the basic
http://www.ros.org/wiki/ROS/Tutorials tutorials as to understand how to
manage ROS nodes. In particular,
http://www.ros.org/wiki/ROS/Tutorials/UnderstandingNodes this one shows how
to start a node.

I hope it sets you on the right track,

Raph

[Antons Rebguns]

Zac,

Another option is the ax12_controller_core
(http://www.ros.org/wiki/ax12_controller_core) from ua-ros-pkg
repository (http://code.google.com/p/ua-ros-pkg/). I used it with
pretty much every Dynamixel motor that Robotis produces, including
AX-12+. RX-28, RX-64 and EX-106+.

Anton