[DISTRO]with the ROS distribution you are using (If you are on LeoOS, type:
helpfor the list of commands.
lsto see id of connected servo and
mv [source] [target]to change it. For example, when the servo has ID 1 and we want to set it to 2, just type:
setcommands. For example, to read current position of servo with ID 1, type:
config/test.yamlfile with the following content:
launch/test.launchwith the following:
sourcethe result space:
/dynamixelX/commandtopic will enable the torque and move the servo with ID X to a specified position if published to. The position is specified in radians.
/dynamixelX/enableservice will just enable the torque on the servo.
/dynamixelX/relaxservice will relax the servo (disable the torque).
/dynamixelX/set_speedservice will set the speed the servo will move with when it receives a new command. The speed is specified in radians per second.