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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Creating a controller package for a COOL arm robot

The first step is to create a controller package for a COOL arm for interfacing to ROS. The COOL arm controller package is available for download along with the book codes. Before we create the package, we should install the dynamixel_controllers package:

$ sudo apt-get install ros-kinetic-dynamixel-controllers

The following command will create the controller package with the necessary dependencies. The important dependency of this package is the dynamixel_controllers package:

$ catkin_create_pkg cool5000_controller roscpp rospy dynamixel_controller std_msgs sensor_msgs
  

The next step is to create a configuration file for each joint. The configuration file is called cool5000.yaml, which contains ...

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