Velocity Control using ROS

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Thanks Binit!

For the gripper and wrist dynamixels, is it possible to do velocity control also?

I saw the following code from this post (Watchdog on joint velocity):

motor = stretch_body.stepper.Stepper('/dev/hello-motor-right-wheel')
motor.startup()
motor.disable_sync_mode()
motor.enable_vel_traj()
motor.push_command()

motor.set_command(v_des=4.0)
motor.push_command()
time.sleep(20.0)
motor.stop()

However, when I try to do:
motor = stretch_body.stepper.Stepper('/dev/hello-dynamixel-wrist')

I get the error: [ERROR] [hello-dynamixel-wrist]: Parameters for device hello-dynamixel-wrist not found. Check parameter YAML and device name. Exiting...

I also don’t see the address for the gripper dynamixel in the /dev/ folder.

Thanks again!