​

1 拷贝程序文件

cd ~/joey_ws/src git clone https://github.com/arebgun/dynamixel_motor.git

2 编译文件

cd ~/joey_ws catkin_make

3 设置启动驱动launch文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch/controller_manager.launch

    <!-- -*- mode: XML -*- -->
    <launch>
        <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
            <rosparam>
                namespace: dxl_manager
                serial_ports:
                    pan_tilt_port:
                        port_name: "/dev/ttyUSB0"
                        baud_rate: 1000000
                        min_motor_id: 1
                        max_motor_id: 25
                        update_rate: 20
            </rosparam>
        </node>
    </launch>

4 运行驱动检测舵机

连接USB2Dynamixel 运行Dynamixel控制器 USB2Dynamixel连接USB接口，舵机连接USB2DYnamixel接口，舵机外部供电

roslaunch dynamixel_tutorials controller_manager.launch

ID 搜索默认从1~25 若查找不到，可以更改controller_manager.launch将ID搜索扩大

rostopic list

出现–> /motor_states/pan_tilt_port 则连接成功

5 设置舵机驱动文件

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/config/dynamixel_joint_controllers.yaml

    pan_controller:
        controller:
            package: dynamixel_controllers
            module: joint_position_controller
            type: JointPositionController
        joint_name: pan_joint
        joint_speed: 2.0
        motor:
            id: 5
            init: 512
            min: 0
            max: 1023

    tilt_controller:
        controller:
            package: dynamixel_controllers
            module: joint_position_controller
            type: JointPositionController
        joint_name: tilt_joint
        joint_speed: 2.0
        motor:
            id: 6
            init: 512
            min: 0
            max: 1023

vim ~/joey_ws/src/dynamixel_motor/dynamixel_tutorials/launch//controller_spawner.launch

    <!-- -*- mode: XML -*- -->
    <launch>
        <!-- Load controller configuration to parameter server -->
<rosparamfile="$(finddynamixel_tutorials)/config/dynamixel_joint_controllers.yaml"command="load"/>

        <!-- start specified joint controllers -->
        <node name="dynamixel_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
              args="--manager=dxl_manager
                    --port=pan_tilt_port
                    --type=simple
                    pan_controller
                    tilt_controller"
              output="screen"/>
    </launch>

6 运行舵机驱动话题

roslaunch dynamixel_tutorials controller_spawner.launch rostopic list

出现：/tilt_controller/command /pan_controller/command 则运行成功

7 控制舵机

rostopic pub /pan_controller/command std_msgs/Float64 – 1.5 rostopic pub /tilt_controller/command std_msgs/Float64 – 1.5