Kondo B3M motor driver

Hardware

Kondo B3M-SB-1040-A
Kondo B3M-SC-1040-A
Kondo B3M-SC-1170-A

RS485USB/シリアル変換アダプター

Install

Detect device driver

sudo modprobe ftdi_sio
sudo su
echo "165C 0009" > /sys/bus/usb-serial/drivers/ftdi_sio/new_id
exit
sudo chmod 0666 /dev/ttyUSB<serial adapter port>

Build

cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/citbrains/kondo_driver
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc

Execute

roslaunch kondo_driver kondo_driver.launch
rostopic pub -1 /joint_0_controller/command std_msgs/Float64 "data: 0.0"