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Commit b46e68bd authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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dynamixel_pan_tilt ROS driver -> Added a configuration file for the dynamixel RX64 servos.

                              -> Updated the launch files to the latest changes.
parent 1bbe1f76
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<?xml version="1.0"?>
<dynamixel_pan_tilt_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="dynamixel_pan_tilt_cfg_file.xsd">
<alarm_shtdwn>5</alarm_shtdwn>
<temp_limit>85</temp_limit>
<max_voltage>21</max_voltage>
<min_voltage>6</min_voltage>
<max_torque>50</max_torque>
<cw_comp_margin>2</cw_comp_margin>
<ccw_comp_margin>2</ccw_comp_margin>
<cw_comp_slope>64</cw_comp_slope>
<ccw_comp_slope>64</ccw_comp_slope>
<punch>32</punch>
<kp>0</kp>
<ki>0</ki>
<kd>0</kd>
<min_angle>-85</min_angle><!--PAN -->
<max_angle>85</max_angle><!--PAN -->
<min_angle>-110</min_angle><!--TILT -->
<max_angle>60</max_angle><!--TILT -->
</dynamixel_pan_tilt_config>
......@@ -23,9 +23,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -48,9 +48,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -83,9 +83,9 @@
name="PS3Joy"
type="joy_node"/>
<node pkg="iri_dyn_pan_tilt_controller"
<node pkg="helena_dyn_pan_tilt_controller"
name="pan_tilt_controller"
type="iri_dyn_pan_tilt_controller"
type="helena_dyn_pan_tilt_controller"
output="screen">
<param name="invert_pan"
type="bool"
......
......@@ -23,9 +23,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -48,9 +48,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -83,9 +83,9 @@
name="PS3Joy"
type="joy_node"/>
<node pkg="iri_dyn_pan_tilt_controller"
<node pkg="helena_dyn_pan_tilt_controller"
name="pan_tilt_controller"
type="iri_dyn_pan_tilt_controller"
type="helena_dyn_pan_tilt_controller"
output="screen">
<param name="invert_pan"
type="bool"
......
......@@ -26,9 +26,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -51,9 +51,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......
......@@ -26,9 +26,9 @@
value="$(find iri_dynamixel_pan_tilt)/config/dyn_server_ftdi_config.xml"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="pan_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......@@ -51,9 +51,9 @@
to="/pan_tilt/set_pan_compliance_control"/>
</node>
<node pkg="iri_compliance_control_reconfigure"
<node pkg="helena_compliance_control_reconfigure"
name="tilt_comp_control_reconfig"
type="iri_compliance_control_reconfigure"
type="helena_compliance_control_reconfigure"
output="screen">
<param name="cw_compliance_margin"
type="double"
......
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