Hi,
Thanks for the great software!
I have been stuck with not being able to connect the USB port to the Dynamixel actuators.
I am using ROS2 Humble on a Ubuntu system with a USB2Dynamixel interface.
It kept crashing at line 84 of /dynamixel_hardware/src/dynamixel_hardware.cpp
auto usb_port = info_.hardware_parameters.at("usb_port");
The issue was resolved when the name of the port is changed to "port_name".
The name of the variable for the port is set in the DynamixelSDK
DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/port_handler.cpp
PortHandler *PortHandler::getPortHandler(const char *port_name)
Line 84 in dynamixel_hardware.cpp needs to be changed to:
auto usb_port = info_.hardware_parameters.at("port_name");
You will also need to change the param name for the port in the examples to "port_name".
open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
dynamixel_hardware/DynamixelHardware
/dev/ttyUSB0
1000000
After this minor change the software works without a problem.
I hope this helps.
Hi,
Thanks for the great software!
I have been stuck with not being able to connect the USB port to the Dynamixel actuators.
I am using ROS2 Humble on a Ubuntu system with a USB2Dynamixel interface.
It kept crashing at line 84 of /dynamixel_hardware/src/dynamixel_hardware.cpp
auto usb_port = info_.hardware_parameters.at("usb_port");
The issue was resolved when the name of the port is changed to "port_name".
The name of the variable for the port is set in the DynamixelSDK
DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/port_handler.cpp
PortHandler *PortHandler::getPortHandler(const char *port_name)
Line 84 in dynamixel_hardware.cpp needs to be changed to:
auto usb_port = info_.hardware_parameters.at("port_name");
You will also need to change the param name for the port in the examples to "port_name".
open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
dynamixel_hardware/DynamixelHardware /dev/ttyUSB0 1000000After this minor change the software works without a problem.
I hope this helps.