Servo: DYNAMIXEL XM540-W270-R
Environment: ROS2 on Raspberry Pi running Ubuntu 20.04, powering the Dynamixel with 12V DC, interfacing with U2D2
Operating mode: 2M baud rate, position control
I’m hoping to control 6 Dynamixels using sync write. I would like to accomplish this by writing a ROS2 node that listens to a topic that is publishing those 6 numbers, and the node writes the position to the nodes. Eventually I’d like to also publish the current states of the motors as well to a ROS2 topic, but I’ll take it one step at a time. I’ve found a tutorial for ROS2 using a single Dynamixel (DYNAMIXEL Quick Start Guide for ROS 2 - YouTube) but I was wondering if anyone had implemented sync read/write, as it seems like Dynamixels are pretty commonly used with ROS. Thanks!