Spinal-PC communication stops when the servo-communication flag is enabled and no Kondo servos are connected.

[makabe0510]

Spinal-PC communication stops when the servo-communication flag is enabled and no Kondo servos are connected.

• definitions in config.h

#define NERVE_COMM 0
#define SERVO_FLAG 1
#define DYNAMIXEL 0
#define KONDO 1

• test

write firmware to spinal_v2 and connect via USB

terminal1
$ roslaunch spinal bridge.launch

terminal2
$ rostopic echo /imu

wait about 15 seconds
rosserial communication stops and rostopic echo returns no data

[makabe0510]

Spinal-PC communication doesn't stop when the servo-communication flag is enabled and no Dynamixel servos are connected.

• definitions in config.h

#define NERVE_COMM 0
#define SERVO_FLAG 1
#define DYNAMIXEL 1
#define KONDO 0

• test

write firmware to spinal_v2 and connect via USB

terminal1
$ roslaunch spinal bridge.launch

terminal2
$ rostopic echo /imu

rosserial communication doesn't stop