docs: edit README.md

- add dynamixel_rdk_msgs/README.md for msg system description - fix dynamixel SDK link
mjlee111 · Nov 15, 2024 · b9e3d38 · b9e3d38
1 parent 8e77806
commit b9e3d38
Show file tree

Hide file tree

Showing 2 changed files with 75 additions and 3 deletions.
diff --git a/README.md b/README.md
@@ -9,15 +9,22 @@ Dynamixel ROS Development Kit for Sync Read and Write.
 </div>
 
 ## Overview
-This repository contains a ROS2 package for Dynamixel Sync Read and Write. Supports **Lifecycle Node** system.
+This repository contains a ROS2 package for Dynamixel Sync Read and Write based on [Dynamixel SDK](https://github.com/ROBOTIS-GIT/DynamixelSDK).
+
+## Features
+- Supports **Sync Read** and **Sync Write** for Dynamixel motors
+- Supports **Bulk Read** and **Bulk Write** for Dynamixel motors
+- Supports **Lifecycle Node** system
+- Supports **YAML** file for parameters
+- Status & Control messages support - [Dynamixel RDK Messages](dynamixel_rdk_msgs/README.md)
 
 ## Requirements
 To use the packages in this repository, make sure you have the following installed:
 
 | Component | Version/Distribution | Notes |
 |-----------|----------------------|-------|
 | ROS2 |  Humble or higher | Recommended ROS2 distributions |
-| Dynamixel SDK | [Dynamixel SDK](https://github.com/ROBOTIS-GIT/DynamixelSDK) | Dynamixel SDK for controlling Dynamixel  |
+| Dynamixel SDK | [github](https://github.com/ROBOTIS-GIT/DynamixelSDK) | Dynamixel SDK for controlling Dynamixel  |
 
 ## Development Environment
 
@@ -50,12 +57,13 @@ To use the packages in this repository, make sure you have the following install
 ## Launching the node & Set Lifecycle Node
 
 1. **Launch the node** <br>
-    To run the `dynamixel_rdk_node`, use the provided [launch file](dynamixel_rdk_ros/launch/dynamixel_rdk.launch.py). It supports loading parameters from a YAML file or directly through launch arguments.
+    To run the `dynamixel_rdk_node`, use the provided [dynamixel_rdk.launch.py](dynamixel_rdk_ros/launch/dynamixel_rdk.launch.py). It supports loading parameters from a YAML file or directly through launch arguments.
 
     **Example launch command:**
     ```bash
     $ ros2 launch dynamixel_rdk_ros dynamixel_rdk.launch.py
     ```
+<br>
 
 2. **Set Lifecycle Node** <br>
     To set the node as a lifecycle node, you can use the `ros2 lifecycle set` command.
@@ -88,6 +96,7 @@ To use the packages in this repository, make sure you have the following install
 
 The node supports various parameters that can be configured via a YAML file or command line arguments. Here's a table of parameters:
 
+### Parameters in YAML file
 | Parameter Name             | Type             | Default Value                  | Description                                                                 |
 |----------------------------|------------------|---------------------------------|-----------------------------------------------------------------------------|
 | `device_port`              | `string`         | `/dev/ttyUSB0`                  | The serial port to which the device is connected.                           |
@@ -97,6 +106,20 @@ The node supports various parameters that can be configured via a YAML file or c
 | `dynamixels.max_position_limits` | `array of float` | `[3.14159]`  | List of maximum position limits for the motors in radians.                  |
 | `dynamixels.min_position_limits` | `array of float` | `[-3.14159]`| List of minimum position limits for the motors in radians.                  |
 
+### Example YAML file
+Example YAML file for three Dynamixel motors - [dynamixel.yaml](dynamixel_rdk_ros/config/dynamixel.yaml)
+```yaml
+# ROS2 Parameters
+/**:
+    ros__parameters:
+        device_port: "/dev/ttyUSB0"
+        baud_rate: 1000000
+        dynamixels:
+            ids: [1, 2, 3]
+            types: ["MX", "MX", "MX"]
+            max_position_limits: [3.14159, 3.14159, 3.14159]
+            min_position_limits: [-3.14159, -3.14159, -3.14159]
+```
 
 ## Contributing
 I welcome all contributions! Whether it's bug reports, feature suggestions, or pull requests, your input helps me to improve. If you're interested in contributing, please check out my contributing guidelines or submit an issue.

diff --git a/dynamixel_rdk_msgs/README.md b/dynamixel_rdk_msgs/README.md
@@ -0,0 +1,49 @@
+# Dynamixel RDK Messages
+This package contains the ROS2 messages for the Dynamixel RDK. Messages are adapted from the [Dynamixel SDK Protocol 2.0](https://emanual.robotis.com/docs/en/dxl/protocol2/).
+
+## Messages
+### `DynamixelStatusMsgs`
+Status message of the Dynamixel motor.
+
+| Field | Type | Description |
+|-------|------|-------------|
+| 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. |
+| present_velocity | float64 | The present velocity of the Dynamixel motor. |
+| present_acceleration | float64 | The present acceleration of the Dynamixel motor. |
+| present_current | float64 | The present current of the Dynamixel motor. |
+| present_voltage | float64 | The present voltage of the Dynamixel motor. |
+| present_temperature | float64 | The present temperature of the Dynamixel motor. |
+
+### `DynamixelMsgs`
+Control message of the Dynamixel motor.
+
+| Field | Type | Description |
+|-------|------|-------------|
+| header | std_msgs/Header | The header of the message. |
+| goal_position | float64 | The goal position of the Dynamixel motor. |
+| profile_acceleration | float64 | The profile acceleration of the Dynamixel motor. |
+| profile_velocity | float64 | The profile velocity of the Dynamixel motor. |
+
+### `DynamixelBulkReadMsgs`
+Bulk read message of the Dynamixel motor.
+
+| Field | Type | Description |
+|-------|------|-------------|
+| status_msgs | DynamixelStatusMsgs[] | The status messages of the Dynamixel motors. |
+
+### `DynamixelBulkWriteMsgs`
+Bulk write message of the Dynamixel motor.
+
+| Field | Type | Description |
+|-------|------|-------------|
+| control_msgs | DynamixelMsgs[] | The control messages of the Dynamixel motors. |
+
+## Disclaimer
+- This package is based on the [Dynamixel SDK](https://github.com/ROBOTIS-GIT/DynamixelSDK), 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](https://emanual.robotis.com/docs/en/dxl/protocol2/#status-packet).
+- `DynamixelBulkWriteMsgs` and `DynamixelMsgs` does not contains **id**. You need to push `DynamixelMsgs` to the `DynamixelBulkWriteMsgs` sequentially.
+