Driver actions upon connecting about lynxmotion_ssc32u HOT 12 CLOSED

This driver hasn't been used for a while, but in a brief glance at the code, I'm guessing that the joints won't be moved unless they're commanded to do so. Upon starting the driver, they're likely in a "relaxed" state until commanded.

When they are commanded, they hold that command until they are either commanded differently or the driver is stopped, in which case they are relaxed.

I think a "relax" service would be nice feature to add here.

Take this with a grain of salt...I no longer have any hardware to test this on...

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It's been a really long time since I've touched this code, but I do remember that the last time I used the driver the servos did move to the default angles set by the joint_lists.

I'll look further into this a little later when I can find time.

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Thanks guys. It maybe relax but it usually warns about being relaxed. I just don't have anything to publish commands with. My ssc32 works with test node and a different driver but this driver is more suitable for want I want do.

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I made a repo with my joints_lists, if it helps.

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Just to clarify, you're saying that none of the servos are initialized to their default values? I see that joint_1 and joint_3 are not initialized to the correct pulse width, but that is a different issue if the other servo's are not moving either.

Also, are you able to control the servos with the test_ssc32 program that is included in this package? I want to make sure it's not a communication issue with between the controller and the driver.

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I just tried to change the initial angle to see if that changed anything.

Yes, I am. I can manually set the pw of the servo and it works. There is the odd thing, I had the driver running and I tried to get the version of the firmware. The driver started working when I did this but the driver will not work without getting the firmware version but it does freeze up. The ssc32 works fine with the Lynxmotion application on Windows and the ssc32py works as well. I suspect there is something different in the serial communication between the driver and test node but I could not find anything, yet.

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I just tried using your config file and it worked for me, but I had to add a line to set the baud to 115200. The driver defaults to 9600, but the test program defaults to 115200. Check to make sure you're using the correct baud.

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I manually changed the baud param (9600 -> 115200) while I was looking through the code and enabling the debug. I will double check tomorrow. May I ask which firmware you are using?

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SSC32-V2.07Alpha1A-EGP

What version are you running?

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Thanks. I am using the same, I recently flash it to that. I will double check everything tomorrow and get back to you since I don't currently have the ssc32. Thank you for all your help again.

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No problem. By the way, running the controller at 9600 baud is also working fine for me.

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I tried it on a different machine and it works at 115200. The odd thing is, when I change the baud in my launch file, it does not work. I verified that it has been changed using rosparam get. It maybe a hardware issue if it works for you. With that said, I will try to get another ssc32 to test but for now I will close this issue till new conclusions can be made. Thank you for all your help, it was much appreciated.

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