{"id":21103220,"url":"https://github.com/robotnikautomation/robotnik_ptu","last_synced_at":"2025-03-14T08:27:44.263Z","repository":{"id":141531707,"uuid":"47685493","full_name":"RobotnikAutomation/robotnik_ptu","owner":"RobotnikAutomation","description":"Robotnik Pan-Tilt Unit (standard dynamixel servos)","archived":false,"fork":false,"pushed_at":"2016-02-08T16:02:28.000Z","size":23,"stargazers_count":2,"open_issues_count":0,"forks_count":1,"subscribers_count":5,"default_branch":"indigo-devel","last_synced_at":"2025-01-21T03:11:32.278Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobotnikAutomation.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2015-12-09T10:48:43.000Z","updated_at":"2023-06-29T00:50:46.000Z","dependencies_parsed_at":"2023-04-29T07:36:33.910Z","dependency_job_id":null,"html_url":"https://github.com/RobotnikAutomation/robotnik_ptu","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_ptu","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_ptu/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_ptu/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_ptu/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/robotnik_ptu/tar.gz/refs/heads/indigo-devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243546622,"owners_count":20308544,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-19T23:58:05.459Z","updated_at":"2025-03-14T08:27:44.198Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# robotnik_ptu\nRobotnik Pan-Tilt Unit (standard dynamixel servos)\n\nThe package is intended for using 2 pan-tilt units each one with one ASUS Xtion RGBD device. It allows using two JointTrajectoryAction servers:\n  -Robotnik rt_traj_exe (from robotnik_trajectory_suite) (launch/rtc launches)\n  -Dynamixel joint trajectory controller (launch/dynamixel launches)\n\nConfigure the xtion_rgbd.launch file with the device ids of your xtion cameras. The easiest way to select a device is by its bus.  \n\nLaunch with \n\n\u003eroslaunch robotnik_ptu robotnik_ptu.launch\n\nThis starts the 2 xtion and 2 ptu units by default\n\nIn order to see the PointClouds in rviz transforms to the optical frames should be present, so launch something that publishes them, e.g.\n\n\u003eroslaunch summit_xl_description summit_xl_hls_state_robot.launch\n\nSee the rgb images and pointclouds in rviz\n\n\u003erosrun rviz rviz \n\nThe ptu units can be moved from MoveIt!, e.g. with \n\n\u003eroslaunch summit_xl_moveit demo_rtc.launch (remember to change the config/controllers.yaml file if you want to change to the dynamixel joint trajectory controller)\n\nFor testing the dynamixel servos use:\n\n~/catkin_ws/src/dynamixel_motor/dynamixel_driver/scripts$ python info_dump.py -p /dev/ttyUSB0 -b 57600 2\nPinging motors:\n\nYou should get: \n\n   Motor 1 is connected:\n        Freespin: False\n        Model ------------------- MX-28 (firmware version: 36)\n        Min Angle --------------- 0\n        Max Angle --------------- 4095\n        Current Position -------- 3773\n        Current Speed ----------- 0\n        Current Temperature ----- 26°C\n        Current Voltage --------- 6.4v\n        Current Load ------------ 0\n        Moving ------------------ False\n...\n\nIf checksum errors or wrong packet prefix errors arise, this is usually caused by wrong voltage or cabling, e.g:\n\n[INFO] [WallTime: 1449485292.823794] pan_tilt_port: Pinging motor IDs 1 through 5...\n[ERROR] [WallTime: 1449485293.135957] Exception thrown while getting attributes for motor 1 - Checksum received from motor 1 does not match the expected one (215 != 247)\n[ERROR] [WallTime: 1449485293.197830] Exception thrown while getting attributes for motor 2 - Checksum received from motor 2 does not match the expected one (220 != 221)\n[ERROR] [WallTime: 1449485293.211449] Exception thrown while getting attributes for motor 2 - Invalid response received from motor 2. Wrong packet prefix ['\\xfd', '\\xff']\n[ERROR] [WallTime: 1449485293.215802] Exception thrown while getting attributes for motor 2 - Invalid response received from motor 2. Wrong packet prefix ['\\x7f', '\\xfe']\n\n\nStartup with\n\nSimulation:\n\u003eroslaunch summit_xl_gazebo summit_xl_hls_omni.launch\nLaunch rt_traj_exe\n\u003eroslaunch summit_xl_sim_bringup gazebo_trajectory_control.launch \nLaunch moveit\n\u003eroslaunch summit_xl_moveit demo_rtc.launch simulation:=true\n\nReal:\n\u003eroslaunch robotnik_ptu robotnik_ptu.launch\n\u003eroslaunch robotnik_ptu robotnik_trajectory_control.launch\n\u003eroslaunch summit_xl_moveit demo_rtc.launch\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_ptu","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Frobotnik_ptu","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_ptu/lists"}