Accessing Servos Data

[petal07]

Hello! The specs for the ViperX 300 say the following:

The DYNAMIXEL XM540-W270 & DYNAMIXEL XM430-W350 servos offer high resolution of 4096 positions and user definable PID parameters, temperature monitoring, positional feedback, as well as voltage levels, load, and compliance settings are user accessible as well.

I'm wondering whether there's an API I'm not finding or another way to access that data?

Thanks!

[lukeschmitt-tr]

Many of the services provided by the xs_sdk give access to these low-level interfaces:

• /<robot_name>/set_operating_modes
• /<robot_name>/set_motor_pid_gains
• /<robot_name>/set_motor_registers
• /<robot_name>/get_motor_registers

You can also use the DYNAMIXEL Wizard 2.0 Tool when not running a control program to get/set registers.

[petal07]

Thanks! Do you mind elaborating about what would constitute a control program? I'm just starting out with ROS and am looking for a way to get that data in realtime (to my understanding as a beginner, it seems there is a significant response latency with services)

[lukeschmitt-tr]

By "control program", I'm just referring to anything that uses the U2D2 port (like the interbotix_xs_sdk). If you try to search for or connect to the servos using the Wizard while the xs_sdk is running, you'd get errors from both programs.