The first step is to create a controller package for COOL arm for interfacing to ROS. The cool arm controller package is available for download along with the section codes.
The following command will create the controller package with necessary dependencies. The important dependency of this package is the dynamixel_controller package.
$ catkin_create_pkg cool5000_controller roscpp rospy dynamixel_controller std_msgs sensor_msgs
The next step is to create configuration file for each joint. The configuration file is called cool5000.yaml, which contains definition of each controller name, its type, and its parameters. We can see this file in the cool5000_controller/config folder. We have to create ...
