https://github.com/stevemacenski/cyton_gamma_300_controllers
Dynamixel controllers for ROS Indigo allowing position control of a Cyton 300
https://github.com/stevemacenski/cyton_gamma_300_controllers
Last synced: about 2 months ago
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Dynamixel controllers for ROS Indigo allowing position control of a Cyton 300
- Host: GitHub
- URL: https://github.com/stevemacenski/cyton_gamma_300_controllers
- Owner: SteveMacenski
- Created: 2016-12-29T14:43:48.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2016-12-29T14:59:36.000Z (over 8 years ago)
- Last Synced: 2025-01-28T15:26:17.602Z (4 months ago)
- Language: Python
- Size: 5.86 KB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# cyton_gamma_300_controllers
Dynamixel controllers for ROS Indigo allowing position control of a Cyton 300
## See SteveMacenski/cyton_gamma_300-1500_operation_and_simulation for use and full robot launch instructions.
https://github.com/SteveMacenski/cyton_gamma_300-1500_operation_and_simulation
## Controllers
The gripper controllers and manipulator controller configurations are stored in yaml files in the main directory. The min/max/init values were tuned for my specific robots. They should be good estimates for yours as well but I recommend finding the extreme values for each axis and updating.
## launch
> roslaunch cyton_1500_controllers controller_manager.launch
Will bring up a connection to the hardware.
> roslaunch cyton_1500_controllers start_controller.launch
Will bring up the controllers in the main namespace for feedback and commanding.
> rosrun cyton_1500_controllers dynamixel_joint_state_publisher.py
Will bring up the state publisher at 1 Hz (configurable) in the /joint_states topic.