https://github.com/robotnikautomation/robotnik_ptu
Robotnik Pan-Tilt Unit (standard dynamixel servos)
https://github.com/robotnikautomation/robotnik_ptu
Last synced: over 1 year ago
JSON representation
Robotnik Pan-Tilt Unit (standard dynamixel servos)
- Host: GitHub
- URL: https://github.com/robotnikautomation/robotnik_ptu
- Owner: RobotnikAutomation
- Created: 2015-12-09T10:48:43.000Z (over 10 years ago)
- Default Branch: indigo-devel
- Last Pushed: 2016-02-08T16:02:28.000Z (over 10 years ago)
- Last Synced: 2025-01-21T03:11:32.278Z (over 1 year ago)
- Language: C++
- Size: 22.5 KB
- Stars: 2
- Watchers: 5
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# robotnik_ptu
Robotnik Pan-Tilt Unit (standard dynamixel servos)
The package is intended for using 2 pan-tilt units each one with one ASUS Xtion RGBD device. It allows using two JointTrajectoryAction servers:
-Robotnik rt_traj_exe (from robotnik_trajectory_suite) (launch/rtc launches)
-Dynamixel joint trajectory controller (launch/dynamixel launches)
Configure the xtion_rgbd.launch file with the device ids of your xtion cameras. The easiest way to select a device is by its bus.
Launch with
>roslaunch robotnik_ptu robotnik_ptu.launch
This starts the 2 xtion and 2 ptu units by default
In order to see the PointClouds in rviz transforms to the optical frames should be present, so launch something that publishes them, e.g.
>roslaunch summit_xl_description summit_xl_hls_state_robot.launch
See the rgb images and pointclouds in rviz
>rosrun rviz rviz
The ptu units can be moved from MoveIt!, e.g. with
>roslaunch 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)
For testing the dynamixel servos use:
~/catkin_ws/src/dynamixel_motor/dynamixel_driver/scripts$ python info_dump.py -p /dev/ttyUSB0 -b 57600 2
Pinging motors:
You should get:
Motor 1 is connected:
Freespin: False
Model ------------------- MX-28 (firmware version: 36)
Min Angle --------------- 0
Max Angle --------------- 4095
Current Position -------- 3773
Current Speed ----------- 0
Current Temperature ----- 26°C
Current Voltage --------- 6.4v
Current Load ------------ 0
Moving ------------------ False
...
If checksum errors or wrong packet prefix errors arise, this is usually caused by wrong voltage or cabling, e.g:
[INFO] [WallTime: 1449485292.823794] pan_tilt_port: Pinging motor IDs 1 through 5...
[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)
[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)
[ERROR] [WallTime: 1449485293.211449] Exception thrown while getting attributes for motor 2 - Invalid response received from motor 2. Wrong packet prefix ['\xfd', '\xff']
[ERROR] [WallTime: 1449485293.215802] Exception thrown while getting attributes for motor 2 - Invalid response received from motor 2. Wrong packet prefix ['\x7f', '\xfe']
Startup with
Simulation:
>roslaunch summit_xl_gazebo summit_xl_hls_omni.launch
Launch rt_traj_exe
>roslaunch summit_xl_sim_bringup gazebo_trajectory_control.launch
Launch moveit
>roslaunch summit_xl_moveit demo_rtc.launch simulation:=true
Real:
>roslaunch robotnik_ptu robotnik_ptu.launch
>roslaunch robotnik_ptu robotnik_trajectory_control.launch
>roslaunch summit_xl_moveit demo_rtc.launch