diff --git a/dynamixel_workbench_msgs/CMakeLists.txt b/dynamixel_workbench_msgs/CMakeLists.txt index 6f81d2a..e20b6c0 100644 --- a/dynamixel_workbench_msgs/CMakeLists.txt +++ b/dynamixel_workbench_msgs/CMakeLists.txt @@ -17,13 +17,18 @@ find_package(catkin REQUIRED COMPONENTS add_message_files( FILES AX.msg - RX.msg - MX.msg EX.msg + MX.msg + MX2.msg + MX2Ext.msg + MXExt.msg + PRO.msg + RX.msg + XH.msg XL.msg + XL320.msg XM.msg - XH.msg - PRO.msg + XMExt.msg DynamixelState.msg DynamixelStateList.msg diff --git a/dynamixel_workbench_msgs/msg/AX.msg b/dynamixel_workbench_msgs/msg/AX.msg index 6a939aa..b09cfba 100644 --- a/dynamixel_workbench_msgs/msg/AX.msg +++ b/dynamixel_workbench_msgs/msg/AX.msg @@ -1,38 +1,36 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node # This message is compatible with control table of Dynamixel AX Series (AX-12W, AX-12/AX-12+/AX-12A, AX-18F/AX-18A) -# It is linked to 'AX_12A.device', 'AX_12W.device' and 'AX_18A.device' in dynamixel_workbench_toolbox/dynamixel/models/AX -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint16 cw_angle_limit -uint16 ccw_angle_limit -uint8 the_highest_limit_temperature -uint8 the_lowest_limit_voltage -uint8 the_highest_limit_voltage -uint16 max_torque -uint8 status_return_level -uint8 alarm_led -uint8 alarm_shutdown -uint8 torque_enable -uint8 led -uint8 cw_compliance_margin -uint8 ccw_compliance_margin -uint8 cw_compliance_slope -uint8 ccw_compliance_slope -uint16 goal_position -uint16 moving_speed -uint16 torque_limit -uint16 present_position -uint16 present_speed -uint16 present_load -uint8 present_voltage -uint8 present_temperature -uint8 registered -uint8 moving -uint8 lock -uint16 punch +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Alarm_LED +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 CW_Compliance_Margin +uint8 CCW_Compliance_Margin +uint8 CW_Compliance_Slope +uint8 CCW_Compliance_Slope +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Lock +uint16 Punch diff --git a/dynamixel_workbench_msgs/msg/DynamixelState.msg b/dynamixel_workbench_msgs/msg/DynamixelState.msg index b3cc759..a676638 100644 --- a/dynamixel_workbench_msgs/msg/DynamixelState.msg +++ b/dynamixel_workbench_msgs/msg/DynamixelState.msg @@ -6,11 +6,11 @@ uint8 torque_enable int16 goal_current int32 goal_velocity -uint32 goal_position +int32 goal_position int16 present_current int32 present_velocity -uint32 present_position +int32 present_position uint8 moving diff --git a/dynamixel_workbench_msgs/msg/EX.msg b/dynamixel_workbench_msgs/msg/EX.msg index f03ddd6..d738a34 100644 --- a/dynamixel_workbench_msgs/msg/EX.msg +++ b/dynamixel_workbench_msgs/msg/EX.msg @@ -1,41 +1,38 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node # This message is compatible with control table of Dynamixel EX Series (EX-106+) -# It is linked to 'EX_106.device' in dynamixel_workbench_toolbox/dynamixel/models/EX -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint16 cw_angle_limit -uint16 ccw_angle_limit -uint8 drive_mode -uint8 the_highest_limit_temperature -uint8 the_lowest_limit_voltage -uint8 the_highest_limit_voltage -uint16 max_torque -uint8 status_return_level -uint8 alarm_led -uint8 alarm_shutdown +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Drive_Mode +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Alarm_LED +uint8 Shutdown -uint8 torque_enable -uint8 led -uint8 cw_compliance_margin -uint8 ccw_compliance_margin -uint8 cw_compliance_slope -uint8 ccw_compliance_slope -uint16 goal_position -uint16 moving_speed -uint16 torque_limit -uint16 present_position -uint16 present_velocity -uint16 present_load -uint8 present_voltage -uint8 present_temperature -uint8 registered -uint8 moving -uint8 lock -uint16 punch -uint16 sensed_current +uint8 Torque_Enable +uint8 LED +uint8 CW_Compliance_Margin +uint8 CCW_Compliance_Margin +uint8 CW_Compliance_Slope +uint8 CCW_Compliance_Slope +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Lock +uint16 Punch +uint16 Sensored_Current diff --git a/dynamixel_workbench_msgs/msg/MX.msg b/dynamixel_workbench_msgs/msg/MX.msg index 9f06db2..3d76795 100644 --- a/dynamixel_workbench_msgs/msg/MX.msg +++ b/dynamixel_workbench_msgs/msg/MX.msg @@ -1,45 +1,38 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node -# This message is compatible with control table of Dynamixel MX Series (MX-12W, MX-28T/MX-28R/MX-28AT/MX-28AR, MX-64T/MX64-R/MX-64AT/MX-64AR, MX-106T/MX-106R) -# It is linked to 'MX_12W.device', 'MX_28.device', 'MX_64.device' and 'MX_106.device' in dynamixel_workbench_toolbox/dynamixel/models/MX -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# This message is compatible with control table of Dynamixel MX Series (MX-12W, MX-28T/MX-28R/MX-28AT/MX-28AR) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint16 cw_angle_limit -uint16 ccw_angle_limit -uint8 drive_mode -uint8 the_highest_limit_temperature -uint8 the_lowest_limit_voltage -uint8 the_highest_limit_voltage -uint16 max_torque -uint8 status_return_level -uint8 alarm_led -uint8 alarm_shutdown -uint16 multi_turn_offset -uint8 resolution_divider +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Alarm_LED +uint8 Shutdown +uint16 Multi_Turn_Offset +uint8 Resolution_Divider -uint8 torque_enable -uint8 led -uint8 d_gain -uint8 i_gain -uint8 p_gain -uint16 goal_position -uint16 moving_speed -uint16 torque_limit -uint16 present_position -uint16 present_speed -uint16 present_load -uint8 present_voltage -uint8 present_temperature -uint8 registered -uint8 moving -uint8 lock -uint16 punch -uint16 current -uint8 torque_control_mode_enable -uint16 goal_torque -uint8 goal_acceleration +uint8 Torque_Enable +uint8 LED +uint8 D_gain +uint8 I_gain +uint8 P_gain +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Lock +uint16 Punch +uint8 Goal_Acceleration diff --git a/dynamixel_workbench_msgs/msg/MX2.msg b/dynamixel_workbench_msgs/msg/MX2.msg new file mode 100644 index 0000000..ef8d5f6 --- /dev/null +++ b/dynamixel_workbench_msgs/msg/MX2.msg @@ -0,0 +1,54 @@ +# This message is compatible with control table of Dynamixel MX(2.0) Series (MX-12W(2.0), MX-28T/MX-28R/MX-28AT/MX-28AR(2.0)) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Load +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature + diff --git a/dynamixel_workbench_msgs/msg/MX2Ext.msg b/dynamixel_workbench_msgs/msg/MX2Ext.msg new file mode 100644 index 0000000..19259c9 --- /dev/null +++ b/dynamixel_workbench_msgs/msg/MX2Ext.msg @@ -0,0 +1,55 @@ +# This message is compatible with control table of Dynamixel MX(2.0) Series (MX-64T/MX64-R/MX-64AT/MX-64AR(2.0), MX-106T/MX-106R(2.0)) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint16 Current_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int16 Goal_Current +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Current +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature diff --git a/dynamixel_workbench_msgs/msg/MXExt.msg b/dynamixel_workbench_msgs/msg/MXExt.msg new file mode 100644 index 0000000..a441267 --- /dev/null +++ b/dynamixel_workbench_msgs/msg/MXExt.msg @@ -0,0 +1,41 @@ +# This message is compatible with control table of Dynamixel MX Series (MX-64T/MX64-R/MX-64AT/MX-64AR, MX-106T/MX-106R) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Alarm_LED +uint8 Shutdown +uint16 Multi_Turn_Offset +uint8 Resolution_Divider + +uint8 Torque_Enable +uint8 LED +uint8 D_gain +uint8 I_gain +uint8 P_gain +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Lock +uint16 Punch +uint16 Current +uint8 Torque_Control_Mode_Enable +uint16 Goal_Torque +uint8 Goal_Acceleration diff --git a/dynamixel_workbench_msgs/msg/PRO.msg b/dynamixel_workbench_msgs/msg/PRO.msg index 2cc0a67..5bfba63 100644 --- a/dynamixel_workbench_msgs/msg/PRO.msg +++ b/dynamixel_workbench_msgs/msg/PRO.msg @@ -1,62 +1,51 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node # This message is compatible with control table of Dynamixel PRO Series # (L42-10-S300-R, # L54-30-S500-R, L54-30-S400-R, L54-50-S500-R, L54-50-S290-R, # M42-10-S260-R, M54-40-S250-R, M54-60-S250-R, # H42-20-S300-R, H54-100-S500-R, H54-200-S500-R) -# and it is linked to 'PRO_L42_10_S300_R.device', -# 'PRO_L54_30_S500_R.device', 'PRO_L54_30_S400_R.device', 'PRO_L54_50_S500_R.device', 'PRO_L54_50_S290_R.device', -# 'PRO_M42_10_S260_R.device', 'PRO_M54_40_S250_R.device', 'PRO_M54_60_S250_R.device -# 'PRO_H42_20_S300_R.device', 'PRO_H54_100_S500_R.device' 'PRO_H54_200_S500_R.device -# in dynamixel_workbench_toolbox/dynamixel/models/PRO -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Operating_Mode +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint32 Acceleration_Limit +uint16 Torque_Limit +uint32 Velocity_Limit +int32 Max_Position_Limit +int32 Min_Position_Limit +uint8 External_Port_Mode_1 +uint8 External_Port_Mode_2 +uint8 External_Port_Mode_3 +uint8 External_Port_Mode_4 +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED_RED +uint8 LED_GREEN +uint8 LED_BLUE +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_P_Gain +int32 Goal_Position +uint32 Goal_Velocity +uint16 Goal_Torque +int32 Goal_Acceleration +uint8 Moving +int32 Present_Position +uint32 Present_Velocity +uint16 Present_Current +uint16 Present_Input_Voltage +uint8 Present_Temperature +uint8 Registered_Instruction +uint8 Status_Return_Level +uint8 Hardware_Error_Status -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint8 operating_mode -int32 homing_offset -uint32 moving_threshold -uint16 temperature_limit -uint16 max_voltage_limit -uint16 min_voltage_limit -uint32 acceleration_limit -uint16 torque_limit -uint32 velocity_limit -int32 max_position_limit -int32 min_position_limit -uint8 external_port_mod_1 -uint8 external_port_mod_2 -uint8 external_port_mod_3 -uint8 external_port_mod_4 -uint8 shutdown -uint16 indirect_address_1 -uint8 torque_enable -uint8 led_red -uint8 led_green -uint8 led_blue -uint16 velocity_i_gain -uint16 velocity_p_gain -uint16 position_p_gain -int32 goal_position -uint32 goal_velocity -uint16 goal_torque -int32 goal_acceleration -uint8 moving -int32 present_position -uint32 present_velocity -uint16 present_current -uint16 present_input_voltage -uint8 present_temperature -uint16 external_port_data_1 -uint16 external_port_data_2 -uint16 external_port_data_3 -uint16 external_port_data_4 -uint8 indirect_data_1 -uint8 registered_instruction -uint8 status_return_level -uint8 hardware_error_status diff --git a/dynamixel_workbench_msgs/msg/RX.msg b/dynamixel_workbench_msgs/msg/RX.msg index 5b3cf95..4c5995b 100644 --- a/dynamixel_workbench_msgs/msg/RX.msg +++ b/dynamixel_workbench_msgs/msg/RX.msg @@ -1,39 +1,36 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node # This message is compatible with control table of Dynamixel RX Series (RX-10, RX-24F, RX-28, RX-64) -# It is linked to 'RX_24F.device', 'RX_28.device' and 'RX_64.device' in dynamixel_workbench_toolbox/dynamixel/models/RX -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint16 cw_angle_limit -uint16 ccw_angle_limit -uint8 the_highest_limit_temperature -uint8 the_lowest_limit_voltage -uint8 the_highest_limit_voltage -uint16 max_torque -uint8 status_return_level -uint8 alarm_led -uint8 alarm_shutdown +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Alarm_LED +uint8 Shutdown -uint8 torque_enable -uint8 led -uint8 cw_compliance_margin -uint8 ccw_compliance_margin -uint8 cw_compliance_slope -uint8 ccw_compliance_slope -uint16 goal_position -uint16 moving_speed -uint16 torque_limit -uint16 present_position -uint16 present_speed -uint16 present_load -uint8 present_voltage -uint8 present_temperature -uint8 registered -uint8 moving -uint8 lock -uint16 punch +uint8 Torque_Enable +uint8 LED +uint8 CW_Compliance_Margin +uint8 CCW_Compliance_Margin +uint8 CW_Compliance_Slope +uint8 CCW_Compliance_Slope +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Lock +uint16 Punch diff --git a/dynamixel_workbench_msgs/msg/XH.msg b/dynamixel_workbench_msgs/msg/XH.msg index b94d7a6..5f5ebeb 100644 --- a/dynamixel_workbench_msgs/msg/XH.msg +++ b/dynamixel_workbench_msgs/msg/XH.msg @@ -1,58 +1,56 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node -# This message is compatible with control table of Dynamixel XH Series (XH430-W210-T/R, XH430-W350-T/R, XH430-V210, XH430-V350) -# It is linked to 'XH430_W210.device', 'XH430_W350.device', 'XH430_V210.device' and 'XH430_V350.device' in dynamixel_workbench_toolbox/dynamixel/models/XH -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# This message is compatible with control table of Dynamixel XH Series (XH430-W210, XH430-W350, XH430-V210, XH430-V350) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint8 drive_mode -uint8 operating_mode -uint8 secondary_id -uint8 protocol_version -int32 homing_offset -uint32 moving_threshold -uint8 temperature_limit -uint16 max_voltage_limit -uint16 min_voltage_limit -uint16 pwm_limit -uint16 current_limit -uint32 acceleration_limit -uint32 velocity_limit -uint32 max_position_limit -uint32 min_position_limit -uint8 shutdown +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint16 Current_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int16 Goal_Current +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Current +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature -uint8 torque_enable -uint8 led -uint8 status_return_level -uint8 registered_instruction -uint8 hardware_error_status -uint16 velocity_i_gain -uint16 velocity_p_gain -uint16 position_d_gain -uint16 position_i_gain -uint16 position_p_gain -uint16 feedforward_2nd_gain -uint16 feedforward_1st_gain -int16 bus_watchdog -int16 goal_pwm -int16 goal_current -int32 goal_velocity -uint32 profile_acceleration -uint32 profile_velocity -uint32 goal_position -uint16 realtime_tick -uint8 moving -uint8 moving_status -int16 present_pwm -int16 present_current -int32 present_velocity -uint32 present_position -uint32 velocity_trajectory -uint32 position_trajectory -uint16 present_input_voltage -uint8 present_temperature diff --git a/dynamixel_workbench_msgs/msg/XL.msg b/dynamixel_workbench_msgs/msg/XL.msg index e9165c0..d610f47 100644 --- a/dynamixel_workbench_msgs/msg/XL.msg +++ b/dynamixel_workbench_msgs/msg/XL.msg @@ -1,57 +1,54 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node # This message is compatible with control table of Dynamixel XL Series (XL430-W250) -# It is linked to 'XL430_W250.device' in dynamixel_workbench_toolbox/dynamixel/models/XL -# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint8 drive_mode -uint8 operating_mode -uint8 secondary_id -uint8 protocol_version -int32 homing_offset -uint32 moving_threshold -uint8 temperature_limit -uint16 max_voltage_limit -uint16 min_voltage_limit -uint16 pwm_limit -uint32 acceleration_limit -uint32 velocity_limit -uint32 max_position_limit -uint32 min_position_limit -uint8 shutdown +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Load +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature -uint8 torque_enable -uint8 led -uint8 status_return_level -uint8 registered_instruction -uint8 hardware_error_status -uint16 velocity_i_gain -uint16 velocity_p_gain -uint16 position_d_gain -uint16 position_i_gain -uint16 position_p_gain -uint16 feedforward_2nd_gain -uint16 feedforward_1st_gain -int16 bus_watchdog -int16 goal_pwm -int32 goal_velocity -uint32 profile_acceleration -uint32 profile_velocity -uint32 goal_position -uint16 realtime_tick -uint8 moving -uint8 moving_status -int16 present_pwm -int16 present_load -int16 present_current -int32 present_velocity -uint32 present_position -uint32 velocity_trajectory -uint32 position_trajectory -uint16 present_input_voltage -uint8 present_temperature diff --git a/dynamixel_workbench_msgs/msg/XL320.msg b/dynamixel_workbench_msgs/msg/XL320.msg new file mode 100644 index 0000000..4fac860 --- /dev/null +++ b/dynamixel_workbench_msgs/msg/XL320.msg @@ -0,0 +1,35 @@ +# This message is compatible with control table of Dynamixel XL Series (XL320) +# If you want to specific information about control table, please follow the link (http://emanual.robotis.com/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint16 CW_Angle_Limit +uint16 CCW_Angle_Limit +uint8 Control_Mode +uint8 Temperature_Limit +uint8 Min_Voltage_Limit +uint8 Max_Voltage_Limit +uint16 Max_Torque +uint8 Status_Return_Level +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 D_gain +uint8 I_gain +uint8 P_gain +uint16 Goal_Position +uint16 Moving_Speed +uint16 Torque_Limit +uint16 Present_Position +uint16 Present_Speed +uint16 Present_Load +uint8 Present_Voltage +uint8 Present_Temperature +uint8 Registered +uint8 Moving +uint8 Hardware_Error_Status +uint16 Punch diff --git a/dynamixel_workbench_msgs/msg/XM.msg b/dynamixel_workbench_msgs/msg/XM.msg index 600f87f..5721214 100644 --- a/dynamixel_workbench_msgs/msg/XM.msg +++ b/dynamixel_workbench_msgs/msg/XM.msg @@ -1,58 +1,56 @@ -# It is Published by 'single_dynamixel_monitor' node -# It is Subscribed by 'dynamixel_workbench_single_manager_gui/qnode' node -# This message is compatible with control table of Dynamixel XM Series (XM430-W210-T/R, XM430-W350-T/R) -# It is linked to 'XM430_W210.device' and 'XM430_W350.device' in dynamixel_workbench_toolbox/dynamixel/models/XM +# This message is compatible with control table of Dynamixel XM Series (XM430-W210, XM430-W350) # If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) -uint16 model_number -uint8 version_of_firmware -uint8 id -uint8 baud_rate -uint8 return_delay_time -uint8 drive_mode -uint8 operating_mode -uint8 secondary_id -uint8 protocol_version -int32 homing_offset -uint32 moving_threshold -uint8 temperature_limit -uint16 max_voltage_limit -uint16 min_voltage_limit -uint16 pwm_limit -uint16 current_limit -uint32 acceleration_limit -uint32 velocity_limit -uint32 max_position_limit -uint32 min_position_limit -uint8 shutdown +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint16 Current_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 Shutdown -uint8 torque_enable -uint8 led -uint8 status_return_level -uint8 registered_instruction -uint8 hardware_error_status -uint16 velocity_i_gain -uint16 velocity_p_gain -uint16 position_d_gain -uint16 position_i_gain -uint16 position_p_gain -uint16 feedforward_2nd_gain -uint16 feedforward_1st_gain -int16 bus_watchdog -int16 goal_pwm -int16 goal_current -int32 goal_velocity -uint32 profile_acceleration -uint32 profile_velocity -uint32 goal_position -uint16 realtime_tick -uint8 moving -uint8 moving_status -int16 present_pwm -int16 present_current -int32 present_velocity -uint32 present_position -uint32 velocity_trajectory -uint32 position_trajectory -uint16 present_input_voltage -uint8 present_temperature +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int16 Goal_Current +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Load +int16 Present_Current +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature diff --git a/dynamixel_workbench_msgs/msg/XMExt.msg b/dynamixel_workbench_msgs/msg/XMExt.msg new file mode 100644 index 0000000..38c5764 --- /dev/null +++ b/dynamixel_workbench_msgs/msg/XMExt.msg @@ -0,0 +1,58 @@ +# This message is compatible with control table of Dynamixel XM Series (XM540-W150, XM540-W270) +# If you want to specific information about control table, please follow the link (http://support.robotis.com/en/) + +uint16 Model_Number +uint8 Firmware_Version +uint8 ID +uint8 Baud_Rate +uint8 Return_Delay_Time +uint8 Drive_Mode +uint8 Operating_Mode +uint8 Secondary_ID +uint8 Protocol_Version +int32 Homing_Offset +uint32 Moving_Threshold +uint8 Temperature_Limit +uint16 Max_Voltage_Limit +uint16 Min_Voltage_Limit +uint16 PWM_Limit +uint16 Current_Limit +uint32 Acceleration_Limit +uint32 Velocity_Limit +uint32 Max_Position_Limit +uint32 Min_Position_Limit +uint8 External_Port_Mode_1 +uint8 External_Port_Mode_2 +uint8 External_Port_Mode_3 +uint8 Shutdown + +uint8 Torque_Enable +uint8 LED +uint8 Status_Return_Level +uint8 Registered_Instruction +uint8 Hardware_Error_Status +uint16 Velocity_I_Gain +uint16 Velocity_P_Gain +uint16 Position_D_Gain +uint16 Position_I_Gain +uint16 Position_P_Gain +uint16 Feedforward_2nd_Gain +uint16 Feedforward_1st_Gain +uint8 Bus_Watchdog +int16 Goal_PWM +int16 Goal_Current +int32 Goal_Velocity +uint32 Profile_Acceleration +uint32 Profile_Velocity +uint32 Goal_Position +uint16 Realtime_Tick +uint8 Moving +uint8 Moving_Status +int16 Present_PWM +int16 Present_Current +int32 Present_Velocity +int32 Present_Position +uint32 Velocity_Trajectory +uint32 Position_Trajectory +uint16 Present_Input_Voltage +uint8 Present_Temperature diff --git a/dynamixel_workbench_msgs/srv/JointCommand.srv b/dynamixel_workbench_msgs/srv/JointCommand.srv index c965eec..c1f30bd 100644 --- a/dynamixel_workbench_msgs/srv/JointCommand.srv +++ b/dynamixel_workbench_msgs/srv/JointCommand.srv @@ -1,8 +1,7 @@ # This message is used to send position command to dynamixel string unit -float32 pan_pos -float32 tilt_pos +uint8 id +float32 goal_position --- -float32 pan_pos -float32 tilt_pos +bool result diff --git a/dynamixel_workbench_msgs/srv/WheelCommand.srv b/dynamixel_workbench_msgs/srv/WheelCommand.srv index 1914331..05ee8d6 100644 --- a/dynamixel_workbench_msgs/srv/WheelCommand.srv +++ b/dynamixel_workbench_msgs/srv/WheelCommand.srv @@ -3,5 +3,4 @@ float32 right_vel float32 left_vel --- -float32 right_vel -float32 left_vel +bool result