ROS Programming: Building Powerful Robots

Testing the face tracker control package

We have seen most of the files and their functionalities. So let's test this package first. We have to ensure that it is detecting the Dynamixel servo and creating the proper topic.

Before running the launch file, we may have to change the permission of the USB device, or it will throw an exception. The following command can be used to get permissions on the serial device:

    $ sudo chmod 777 /dev/ttyUSB0

Note that you must replace ttyUSB0 with your device name; you can retrieve it by looking at kernel logs. The dmesg command can help you find it.

Start the start_dynamixel.launch file using the following command:

    $ roslaunch face_tracker_control start_dynamixel.launch

Figure 19: Finding Dynamixel servos ...