No updates for Pos, Vel, Accel during trajectory execution / motor movement

[marcomasa]

1. How to setup:

Use the trajectory callback in the dynamixel_workbench_controllers node.

2. Which Dynamixel have you used? and how many? (Please describe below format to all connected Dynamixels)

   • Model Name: MX-106

   • ID 1 & 2

   • Baud Rate of Dynamixels: 1Mbps

   • Protocol Version: 1

3. Write down the commands you used in order:

I am using custom launchfiles, so i guess they wont be of any use for you. Most params are the default ones, but i will post some here:

<rosparam>
      publish_period: 0.01             <!--value for periods has to be in the intervall t = [0.1; 0.00032] borders are unstable-->
      dxl_read_period: 0.01
      dxl_write_period: 0.0004
      use_moveit: false
      use_joint_states_topic: true
      use_cmd_vel_topic: false
    </rosparam>

5. Please, describe detailedly what difficulty you are in

I am getting new messages in the joint_state topic, but they contain the values of the initial position. This causes pointclouds etc. to be stuck in that reference frame when doing scans with custom built robot arms using dynamixel motors. How can i enable the motor data update during the movement / trajectory execution?

[marcomasa]

Updating the motors to FW 2.0 did not help either.

[marcomasa]

Also, the dynamixel_state topic shows empty messages during motor movement