launch_settings.py

"""
Motors settings to be used by the launch file

@author: Elian NEPPEL
@laboratory: Moonshot, Space Robotic Lab, Tohoku University
"""

# Baud-rate and motorID are motor specific, if you want to change it, use the dynamixel wizard

USB_u2d2_port_to_use = [
    # f"/dev/ttyUSB{n}"
    f"/dev/ttyUSB{n}" # Use this line for Moonbot Zero
    for n in [
        0,
        1,
        2,
        3,
        4,
    ]
]
# Use the actual port assigned to the U2D2.
# ex) Windows: "COM*", Linux: "/dev/ttyUSB*", Mac: "/dev/tty.usbserial-*"
# use `ls /dev/ttyUSB*` to see which ports are active on linux
# if you have only one u2d2 plugged in, you should see it assigned to `/dev/ttyUSB0` and use `["/dev/ttyUSB{0}"]` here
# see the doc udev_rules_doc.md to assign a fix path to a physical controller

PortAliasDic = dict(zip(USB_u2d2_port_to_use, [f"port_{n}" for n in [0, 1, 2, 3, 4]]))
# The alias will replace `f"/dev/ttyUSB{n}"` as the name of the port notably when creating node name and topics

MotorSeries = "X_SERIES"
# The motor series changes the adresses used on the serial port
# Only the Xseries addresses are usable, update `motor_address_table` in multi_controller.py for another motor
# 'X_SERIES'  # X330 (5.0 V recommended), X430, X540, 2X430
# 'MX_SERIES'    # MX series with 2.0 firmware update.
# 'PRO_SERIES'   # H54, H42, M54, M42, L54, L42
# 'PRO_A_SERIES' # PRO series with (A) firmware update.
# 'P_SERIES'     # PH54, PH42, PM54
# 'XL320'        # [WARNING] Operating Voltage : 7.4V

Baudrate = 2_000_000
# Default: 57_600, Pro series default: 1_000_000, Max: 4_000_000
# if the baudrate is wrong motors won't be detected

IdRangeMin = 1  # included
IdRangeMax = 10  # included
# defines the id range of the motors to detect
# two motors CANNOT share the same id, it WILL bug

FullScanPeriod = 2  # seconds
# will scan all ids in 2 s

AngleReadFreq = 10  # Hz
# Freq at which the angles of all connected dynamixel is read and published on ros2

AngleWriteFreq = 100  # Hz
# Freq at which the bulkwrite will send all new targets in the buffer to the motors

TimeToReach = 1 / 20 + 0.1  # s
# The mapper will consider that all target should be reached by this time
# if you send new targets at 20Hz, 1/20 + 0.1 gives good results