ROS packages for the Lynxmotion SSC-32U servo controller.
License: BSD 3-Clause "New" or "Revised" License
ROS packages for the Lynxmotion SSC-32U servo controller.
See the README in each individual package for details.
Using the new dev branch works well. However, when I try to publish data to the command topic using rqt_ez_publisher or rostopic (shown below) from the command line, the driver dies. After some debuging, I found line 386 inssc32_driver.cpp on dev branch to be where it dies. However, I cannot see an issue with the line. Any thoughts on this?
Thanks in advance,
-Tony
rostopic pub /joint_controller/command trajectory_msgs/JointTjectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names:
- 'joint_1, joint_2, joint_3, joint_4, gripper'
points:
- positions: [0,0,0,0,0]
velocities: [0]
accelerations: [0]
effort: [0]
time_from_start: {secs: 0, nsecs: 0}"
I was wondering if the driver would move the servos into their intial angles defined by the joint_lists? I connect to driver successfully as shown below, but the servos do not move at all. Do I have to issue a commond first or do they automatically go to that position?
Thank you,
-Tony
balto@T510:~$ roslaunch lynxmotion_al5d_support driver_al5d.launch
... logging to /home/balto/.ros/log/1f3645bc-4aa5-11e4-80bb-00262df3360c/roslaunch-T510-22437.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://T510:60830/
SUMMARY
========
PARAMETERS
* /joint_controller/robot_description
* /lynxmotion_ssc32_driver/controllers/joint_controller/joints
* /lynxmotion_ssc32_driver/controllers/joint_controller/publish_joint_states
* /lynxmotion_ssc32_driver/controllers/joint_controller/publish_rate
* /lynxmotion_ssc32_driver/controllers/joint_controller/type
* /lynxmotion_ssc32_driver/joints/gripper/channel
* /lynxmotion_ssc32_driver/joints/gripper/default_angle
* /lynxmotion_ssc32_driver/joints/gripper/invert
* /lynxmotion_ssc32_driver/joints/gripper/max_angle
* /lynxmotion_ssc32_driver/joints/gripper/min_angle
* /lynxmotion_ssc32_driver/joints/gripper/offset_angle
* /lynxmotion_ssc32_driver/joints/joint_1/channel
* /lynxmotion_ssc32_driver/joints/joint_1/default_angle
* /lynxmotion_ssc32_driver/joints/joint_1/invert
* /lynxmotion_ssc32_driver/joints/joint_1/max_angle
* /lynxmotion_ssc32_driver/joints/joint_1/min_angle
* /lynxmotion_ssc32_driver/joints/joint_1/offset_angle
* /lynxmotion_ssc32_driver/joints/joint_2/channel
* /lynxmotion_ssc32_driver/joints/joint_2/default_angle
* /lynxmotion_ssc32_driver/joints/joint_2/invert
* /lynxmotion_ssc32_driver/joints/joint_2/max_angle
* /lynxmotion_ssc32_driver/joints/joint_2/min_angle
* /lynxmotion_ssc32_driver/joints/joint_2/offset_angle
* /lynxmotion_ssc32_driver/joints/joint_3/channel
* /lynxmotion_ssc32_driver/joints/joint_3/default_angle
* /lynxmotion_ssc32_driver/joints/joint_3/invert
* /lynxmotion_ssc32_driver/joints/joint_3/max_angle
* /lynxmotion_ssc32_driver/joints/joint_3/min_angle
* /lynxmotion_ssc32_driver/joints/joint_3/offset_angle
* /lynxmotion_ssc32_driver/joints/joint_4/channel
* /lynxmotion_ssc32_driver/joints/joint_4/default_angle
* /lynxmotion_ssc32_driver/joints/joint_4/invert
* /lynxmotion_ssc32_driver/joints/joint_4/max_angle
* /lynxmotion_ssc32_driver/joints/joint_4/min_angle
* /lynxmotion_ssc32_driver/joints/joint_4/offset_angle
* /rosdistro
* /rosversion
NODES
/joint_controller/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
/
lynxmotion_ssc32_driver (lynxmotion_ssc32/ssc32_node)
auto-starting new master
process[master]: started with pid [22454]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1f3645bc-4aa5-11e4-80bb-00262df3360c
process[rosout-1]: started with pid [22468]
started core service [/rosout]
process[joint_controller/robot_state_publisher-2]: started with pid [22480]
process[lynxmotion_ssc32_driver-3]: started with pid [22498]
[ INFO] [1412303380.091396818]: Starting SSC32Driver
Successfully opened port /dev/ttyUSB0
[ INFO] [1412303380.094847616]: Initializing channel 0 to pulse width 1500
[ INFO] [1412303380.094890107]: Initializing channel 1 to pulse width 1500
[ INFO] [1412303380.094920101]: Initializing channel 2 to pulse width 1500
[ INFO] [1412303380.094943770]: Initializing channel 3 to pulse width 1500
[ INFO] [1412303380.094967677]: Initializing channel 4 to pulse width 1500
INFO: [send_message] Sending message: #0 P1500 #1 P1500 #2 P1500 #3 P1500 #4 P1500 <cr>
[ INFO] [1412303380.095032393]: Spinning...
INFO: [send_message] Sending message: QP0 <cr>
Hi, I am having issues getting the driver to respect the "time_from_start" part of the JointTrajectory message. I am publishing directly to the "/joint_controller_1/command" and have tried JointTrajectory messages with single and multiple JointTrajectoryPoint points and the "time_from_start" does not seem to effect the speeds.
I am used to using FollowJointTrajectoryAction actions with dynamixels so may be approaching this wrong. In the test code below the servos just move to the 1 position. Any help would be much appreciated.
Test code: https://s3-eu-west-1.amazonaws.com/data.re.je/tuck_arm.py
I think we should move this driver to smd-ros-pkg and officially release it.
Thoughts from @mattrichard? @tonybaltovski?
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