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simple_head

A ROS controller for the Cornell Dynamixel tablet head robot

You should be able to run the nodes in this package by simply launching the simple_head.launch file. Depends on dynamixel_controller

roslaunch simple_head.launch

Requesting pose

You request a pose by sending a simple_head/PoseCommand message to the /goto_pose topic. The message has two fields: a ROS duration (the time it should take to go to the pose) and a string for the pose.

For example, this will request pose up_left with a movement duration of three seconds:

rostopic pub -1 /goto_pose simple_head/PoseCommand -- '[3.0,0.0]' 'up_left'

Generally Durations of less than a second are not advised.

Adding poses

Just add poses in the poses.yaml config file. Restart the system. You should be able to send the new pose name on the /goto_pose topic.

Common issues

  • Make sure that you have the right USB port (usualy /dev/ttyUSB0 but might be different on your machine).

Obvious next steps

  • Use SYNC WRITE in joint_trajectory
  • Add duration for pose going
  • Add trajectory importer for blender importer