ROS topic /dynamixel_workbench/joint_states not updating velocity or position after starting joint controller

[Helloworld-Le]

ISSUE TEMPLATE ver. 1.0.0

Before you open issue, please refer to ROBOTIS e-Manual

1. How to setup? (U2D2) (PC to U2D2 to one XL430W250, the other port of XL430W250 is connected to 12 DC output from OpenCR board, this is a bit messy but I want the OpenCR board to run the TB3 code, controlling wheels (ID 1 and 2 ), and then it also powers the extra motor (ID 10 ) but the control of the ID 10 is done through U2D2 connection and independent ROS nodes on the PC.

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

   • Model Name: XL430W250

   • ID: 10

   • Baud Rate of Dynamixels: 115200 (also tried with 1M )

   • Protocol Version (46)

3. Write down the commands you used in order

$ roscore
$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch
$ roslaunch dynamixel_workbench_operators joint_operator.launch
$ rosservice call /dynamixel_workbench/execution

4. Copy and Paste your error message on terminal

 * /dynamixel_info: /home/le/Install/...
* /dynamixel_workbench/dxl_read_period: 0.01
* /dynamixel_workbench/dxl_write_period: 0.01
* /dynamixel_workbench/mobile_robot_config/radius_of_wheel: 0.033
* /dynamixel_workbench/mobile_robot_config/seperation_between_wheels: 0.16
* /dynamixel_workbench/publish_period: 0.01
* /dynamixel_workbench/use_cmd_vel_topic: False
* /dynamixel_workbench/use_joint_states_topic: True
* /dynamixel_workbench/use_moveit: False
* /rosdistro: noetic
* /rosversion: 1.15.14

NODES
/
  dynamixel_workbench (dynamixel_workbench_controllers/dynamixel_workbench_controllers)

ROS_MASTER_URI=http://129.215.90.113:11311

process[dynamixel_workbench-1]: started with pid [15423]
[ INFO] [1656881305.060908573]: Name : camera_motor, ID : 10, Model Number : 1060
[ INFO] [1656881305.142854829]: [DynamixelDriver] Succeeded to add sync write handler
[ INFO] [1656881305.143087024]: [DynamixelDriver] Succeeded to add sync write handler
[ INFO] [1656881349.741417869]: 'camera_motor' is ready to move
[ INFO] [1656881349.745809422]: Succeeded to get joint trajectory!
[ INFO] [1656881349.746493176]: Dynamixel is moving
[ INFO] [1656881350.746536474]: Dynamixel is moving

5. Please, describe detailedly what difficulty you are in

   • my motor is moving as expected, however, the /dynamixel_workbench/joint_states is not updating the velocity or position. I have noticed that when I only run roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch and before running roslaunch dynamixel_workbench_operators joint_operator.launch , I can see the /dynamixel_workbench/joint_states is updating correctly when I try to manually twist the motor a tiny bit. But after running roslaunch dynamixel_workbench_operators joint_operator.launch , the position and velocity in /dynamixel_workbench/joint_states will just remain unchanged no matter how the motor is moving.