Differences

This shows you the differences between two versions of the page.

--- dynamixel:ros [2018/09/27 17:10] – created typos
+++ dynamixel:ros [2024/09/23 13:37] (current) – typos
@@ Line 2: / Line 2: @@
 ---------------------------------------------
-Here, we walk through set up and example scripts to communicate with connected Dynamixel motors, using Matlab.
+This section refers you to instructions for installing the ROS Dynamixel motor stack as well as associated tutorials to operate the motors on ROS.
-**PREREQUISITE:** This assumes instructions in [[dynamixel:hardware | hardware setup ]] have been completed.
+**Prerequisite:** This assumes:
-===== Clone Repositories  =====
+  - instructions in [[dynamixel:hardware | hardware setup ]] have been completed.
-Clone the 'dynamixel' repository maintained on Georgia Tech.'s GitHub Enterprise: git@github.gatech.edu:ivabots/dynamixel.git
+  - you are operating on a Ubuntu release with an appropriate distribution of ROS already installed
-**Note:** Walk-through instructions to set up and clone Git repositories can be found [[git:get_started | here ]].
+===== Install Dynamixel Motor Stack  =====
+We will clone a repository forked from Anton Rebgun's [[ https://github.com/arebgun/dynamixel_motor | dynamixel_motor ]] repository. The final version of ROS supported by this motor controller stack was ROS 1 kinetic (Python 2.7). Our lab-maintained fork of this repository has been updated to support ROS1 melodic and beyond (Python 3); ROS2 is **not supported**.
-===== Dynamixel Matlab API  =====
+If you haven't yet created a catkin workspace, open a terminal and run the following:
-Within the repository, a 'Dynamixel_IO' Matlab class has been created to facilitate convenient communication and operation of the motors: code/matlab/Dynamixel_IO/Dynamixel_IO.m
+<code>
+$ source /opt/ros/%ROS_DISTRO%/setup.bash
+$ mkdir -p ~/catkin_ws/src
+$ cd ~/catkin_ws/
+$ catkin build
+</code>
+where '''%ROS_DISTRO%''' should be replaced with the ROS distribution installed on your system (e.g. melodic, noetic).
-Take some time to explore the class definition and high-level methods available.
+The following is derived from instructions found on the ROS.org page for the [[ http://wiki.ros.org/dynamixel_motor?distro=kinetic | Dynamixel motor stack ]]. It will clone the forked and lab-maintained repository into your catkin workspace: [[ https://github.com/ivaROS/ivaDynamixel | https://github.com/ivaROS/ivaDynamixel ]]. It presumes your catkin workspace is located per the instructions above:
-**Disclaimer**:
+<code>
-  - The Dynamixel_IO Matlab class currently only supports Dynamixel motors using 10-bit encoders (ie. AX and RX line of motors). However, a variant (not yet committed to the repository) has been created to support most functions associated with motors using 12-bit encoders (eg. MX line of motors) and is available upon request.
+cd ~/catkin_ws/src
-  - The Dynamixel_IO class relies on pre-compiled lower-level libraries to communicate with the motors. It presumes the libraries are located in a specific relative path. If you clone the 'dynamixel' repo and use the Dynamixel_IO class from the repository location, there should be no problem. If you move the Dynamixel_IO.m file out of the cloned repository location and use it elsewhere, however, it may not be able to find dependency libraries residing only in the repository.
+git clone https://github.com/ivaROS/ivaDynamixel.git
-  - Pre-compiled libraries are available only for Linux (32- & 64-bit) and Windows (32- and 64-bit). Hence, this API does not currently support use on Mac OSX. Additionally, if run on Windows 64-bit, the user will be required to install a compiler that Matlab supports (eg. for running MEX files)
+</code>
-  - This API will soon be updated to use Robotis' latest software interface.
-===== Test Script and Exercise  =====
+===== ROS Dynamixel Motor Tutorial  =====
-Within the 'dynamixel' repo, navigate to: code/matlab/Dynamixel_IO/test_cases.
+Follow this [[ http://wiki.ros.org/dynamixel_controllers/Tutorials | tutorial ]] for the ROS Dynamixel motor stack.
-Open and view the following test script which will command a motor, specified by the user, to a position (also specified by the user): test_case_command_single_motor.m
-**Some notes**:
-  - Find your port number: The red FTDI breakout board is connected to the PC via USB. On Linux, you should find a device file for it in '/dev'. Type ''ls /dev/ttyUSB*'' to see a list of device files that may correspond to this device. The number after 'ttyUSB' is your port number. Use that as the 1st argument to ''dxl.connect( ... );'' in the test script.
-  - Motor ID: You will need to know the ID of the motor you'd like to command using this script. Enter that value in the line, ''motor_id = 17;'', replacing ''17'' with your motor's ID.
-  - Command a position: In the line, ''dest_pos = pi/6;'', replace ''pi/6'' with a motor position (in radians) you'd like the motor to travel to. Remember, each line of motors has a set of specifications that document the minimum/maximum range of motion.
-  - Run the script: Once you're done, hit the 'Play' button and follow any instructions in the prompt. If everything works out, you should see you motor move to the specified position.
-**Exercise(s)**:
-  - You have commanded a single motor to a single angular position. Can you now modify the Matlab script to command the motor to smoothly travel a sinusoidal trajectory (eg. with user-adjustable frequency, amplitude and phase offset) over time? Demonstrate this trajectory (with your choice of frequency, amplitude, phase, etc.) over 5 sine periods.
-  - Now that you've commanded a time-varying trajectory for a single motor. Command 2 different trajectories for 2 motors! Make sure that both motors are following different sinusoidal trajectories - eg. they both can execute a sinusoidal trajectory over time, but each one should follow a sine wave defined by different parameters (eg. different frequency, amplitude and/or phase offset).
+It will guide you through useful tools to communicate with connected motors. A walk-through is additionally provided to configure a pan-tilt motor arrangement and program a ROS node to operate it.
 ---------
 ;#;
-[[dynamixel:dynamixel:sw_prelim | Previous: Matlab Interface ]] -- [[: | Main ]] --
+[[dynamixel:sw_prelim | Previous: Matlab ]] -- [[dynamixel:main | Main (Dynamixel) ]]
 ;#;