Dynamixel RDK Messages

This package contains the ROS2 messages for the Dynamixel RDK. Messages are adapted from the Dynamixel SDK Protocol 2.0.

Messages

Status message of the Dynamixel motor.

Field	Type	Description	Unit
header	std_msgs/Header	The header of the message.	-
id	uint8	The ID of the Dynamixel motor.	-
torque_enabled	bool	Whether the torque is enabled.	-
error_status	uint8	The error status of the Dynamixel motor.	-
present_position	float64	The present position of the Dynamixel motor.	rad
present_velocity	float64	The present velocity of the Dynamixel motor.	rad/s
present_acceleration	float64	The present acceleration of the Dynamixel motor.	rad/s^2
present_current	float64	The present current of the Dynamixel motor.	mA
present_voltage	float64	The present voltage of the Dynamixel motor.	V
present_temperature	float64	The present temperature of the Dynamixel motor.	°C
min_max_position	float64[2]	The minimum and maximum position of the Dynamixel motor.	rad

Control message of the Dynamixel motor.

Field	Type	Description	Unit
header	std_msgs/Header	The header of the message.	-
goal_position	float64	The goal position of the Dynamixel motor.	rad
profile_acceleration	float64	The profile acceleration of the Dynamixel motor.	rad/s^2
profile_velocity	float64	The profile velocity of the Dynamixel motor.	rad/s

Bulk read message of the Dynamixel motor.

Field	Type	Description
status_msgs	DynamixelStatusMsgs[]	The status messages of the Dynamixel motors.

Bulk write message of the Dynamixel motor.

Field	Type	Description
control_msgs	DynamixelMsgs[]	The control messages of the Dynamixel motors.

This package is based on the Dynamixel SDK, and the messages are adapted from the SDK.
The error status of the Dynamixel motor is based on the Dynamixel Protocol 2.0 status packet.
DynamixelControlMsgs and DynamixelMsgs does not contains id. You need to push DynamixelMsgs to the DynamixelControlMsgs sequentially.