The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.
The dynamixel_hardware package is the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.
It is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.
Update the usb_port, baud_rate, and joint id's. The easiest way to find there values is to use the dynamixel wizard. https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/
If you don't have real hardware, set the use_dummy parameter to true and the desired position will be mirred to current position.
You can use the offset (in Rads) and gear_ratio parameters to adjust the joint state and the desired state for calibrating the motor to your robot. The formulas are as follows:
command_position = (command.position * gear_ratio) + offset
state_position = (position - offset) / gear_ratio
<hardware>
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="use_dummy">false</param>
<param name="enable_torque">true</param>
<param name="control_mode">CurrentBasedPosition</param><!-- Velocity Position CurrentBasedPosition -->
</hardware>
<joint name="gripper_motor_joint">
<param name="id">${motors_params['gripper']['id']}</param>
<param name="offset">${motors_params['gripper']['offset']}</param>
<param name="gear_ratio">-2.5</param>
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>