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 ...