Creating a dynamixel action client controller

Question

I am following this tutorial: http://wiki.ros.org/dynamixel_controllers/Tutorials/Creatingdynamixelactionclient

When I run the command

python trajectory_client.py

Controller Manager shows following:

[ERROR] [1506614244.445647]: Incoming trajectory joints do not match the joints of the controller.
[ERROR] [1506614244.454837]: Excepcion in ypur execute callback: not all arguments converted during string formatting.

I have reviewed everything but did not find the error.

Thank you very much for your help.

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Originally posted by Montes on ROS Answers with karma: 16 on 2017-09-28

Post score: 0

Answer 1

There seems to be a mismatch between joint names. In line 37 of the dynamixel tutorial : arm = Joint('f_arm') you need to set the same name as in your motor driver, i.e. arm = Joint('joint0_position_controller')

here I post a snippet of our arm driver based on dynamixel_motor.

  <node pkg="dynamixel_controllers" type="controller_spawner.py" name="joint_position_controller_spawner" output="screen"
        args="--manager=cyton_manager
              --port left_arm_port
              --type=simple
              joint0_position_controller" />

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Originally posted by Oscar Lima with karma: 831 on 2018-03-04

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Montes on 2018-03-19:
Thanks you very much for your help.