Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Since Darwin OP is built from Dynamixel motors it might be worth looking at the dynamixel_motor stack. Once you have a URDF description of your robot you can define joint controllers (motor ids, min/max limits, baud rates, etc.) for the dynamixel_motor stack that will give you ability to control and monitor the state of single joints through ROS topics.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.