dynamixel_pan_tilt ROS driver -> Added a configuration file for the dynamixel RX64 servos.

                              -> Updated the launch files to the latest changes.

config/dyn_pan_tilt_config_RX64.xml

+<?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>

launch/pan_tilt_controller.launch

@@ -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"

launch/pan_tilt_controller_display.launch

@@ -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"

launch/pan_tilt_display.launch

@@ -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"

launch/pan_tilt_solo.launch

@@ -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"