def connect(self):
try:
self.dxl_io = dynamixel_io.DynamixelIO(self.port_name, self.baud_rate, self.readback_echo)
self.__find_motors()
except dynamixel_io.SerialOpenError, e:
rospy.logfatal(e.message)
sys.exit(1)
def connect(self):
try:
self.dxl_io = dynamixel_io.DynamixelIO(self.port_name, self.baud_rate, self.readback_echo)
self.__find_motors()
except dynamixel_io.SerialOpenError as e:
rospy.logfatal(e.message)
sys.exit(1)
self.running = True
if self.update_rate > 0: Thread(target=self.__update_motor_states).start()
if self.diagnostics_rate > 0: Thread(target=self.__publish_diagnostic_information).start()
help=
'connection to serial port will be established at BAUD bps [default: %default]'
)
(options, args) = parser.parse_args(sys.argv)
if len(args) < 2:
parser.print_help()
exit(1)
port = options.port
baudrate = options.baud
motor_ids = args[1:]
try:
dxl_io = dynamixel_io.DynamixelIO(port, baudrate)
except RuntimeError, soe:
print 'ERROR:', soe
else:
responses = 0
print 'Pinging motors:'
for motor_id in motor_ids:
motor_id = int(motor_id)
print '%d ...' % motor_id,
if dxl_io.ping(motor_id):
responses += 1
values = dxl_io.get_feedback(motor_id)
angles = dxl_io.get_angle_limits(motor_id)
model = dxl_io.get_model_number(motor_id)
firmware = dxl_io.get_firmware_version(motor_id)
values['id'] = motor_id
