This package provides a DYNAMIXEL's joints management library for a ROS 2 project.
This project is licensed under the MIT License.
DYNAMIXEL's joints management for ROS 2
License: MIT License
This package provides a DYNAMIXEL's joints management library for a ROS 2 project.
This project is licensed under the MIT License.
Complete the sync_write
and bulk_read
function on motion_manager
class.
motion
name to motion_opencr
drive_joint
name to move_joint
set_goal_position()
calculationThis issue proposes reenabling the Ament lint test, which was previously disabled in issue #57 due to lint errors caused by other PRs.
This program to ensure that the position of servo can be controlled by OpenCR from a program which is using dynamixel_sdk library.
To adjust the naming of the executable with the function of this package, Change the broadcast_ping
name to check_joints
as it's more suitable with the motion package function which is manages a robot's motion such as joints, poses, etc.
Also, it seems too exaggerated to use a node class for an executable that just be called, check connections, and end. To make the code simpler and readable, just use the main()
function in the main.cpp
which contains logic for an open port, broadcast message, and end port.
Set a unique name for this project as in other projects like Akushon, Kumo, Shisen, etc. Anybody may propose a good name for this project. Also, don't forget to replace any kind of previously Motion
name in this project or outside it with a newer name.
Add a readme file that describes the short description, dependencies, usage, and features of this project.
This issue suggests to modify workflows as follows:
build-debian-nightly.yml
and build-debian-stable.yml
since Debian build is no longer in use for this project.build-and-test-nightly.yml
and build-and-test-stable.yml
into a single ci.yaml
workflow file.Add function to move joint(s) with custom speed as a parameter.
Move src, CMakeLists.txt, & package.xml into motion_opencr
package and add motion_opencr_interfaces
package.
First, include dynamixel_sdk as the dependency for this package. Next, create a node that will send a ping signal to all motors as in this example.
Separate the Tachimawari Interfaces as a different project.
Make motion_manager_main
program to run the motion_manager
service node.
Make the motion_manager
class as a service node and create its srv
on motion_opencr_interfaces
package.
Change the usage of standard I/O from iostream
cpp library in motion_manager
class into RCLCPP stream logging as that class has been built as a node.
MotionManager
class that has the function needed to handle joints.Add a continuous integration for this project using ROS 2 CI action.
Create Joint
class that represents robot's servo.
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