Can't read exact angle using ROS on OpenMANIPULATOR-X

Use the following template to help create your post:

  1. What model of servo are you using?
    XM430-W350 (OpenMANIPUALTOR-X)

  2. Describe your control environment. This includes the controller or interface, and any power source.
    SMPS 12V5A is connected to power connect on Power supply board and U2D2 is connected to desktop PC (OS : Ubuntu 20.04, GPU: RTX3060).

  3. Specify the operating mode for applicable models, and any firmware settings you are using.
    I’m trying to control OpenMANIPULATOR-X using ROS1(noetic) as instructed in the e-manual(https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/).

  4. Include pictures if possible.
    result of Rviz:

real robot status (Init status):

  1. Include a full description of the issue.
    I’m having issue with read angles from each motor.
    I tried to check each angle on the Dynamixel Wizard 2.0, it’s almost 0 degree.
    However I executed the ROS program, its error occured.

If you are familiar with this OpenMANIPULATOR-X or XM430-W350, Dynamixel Wizard 2.0 please help me!

Thanks!

Hello Ishida,
I also have the same problem.
Did you solve the problem? If yes, can you tell me the trick?

best regards