[FIXED] getting position and moving robot joint in ros using rosbag and dynamixel

Issue

im trying to control the movement of my robot using dynamixel_workbench package. my ros version in noetic and my motors are dynamixel Ax12 i run dynamixel_workbench_controllers.launch file and i can see the position of each joint as i move the robot arms (in joint_states topic) i record this topic with rosbag and when i play the bag file i can see that it has recorded the positions (using rostopic echo /dynamixel_workbench/joint_states) but the arms dont move accordingly. i mean the bag file is recorded and played correctly but doesnt seem to work with motors. can anyone help me with that? what should i do to move the motors with bag file?

Solution

The topic you're recording is a Publisher of the package, not a Subscriber. This means what you're recording is feedback from the node saying where it currently is in response to a command, you can see on the package page. The movement is actually done in response to a Service call. Unfortunately, there isn't any way to directly record services via rosbag. The best you could do is write a quick node that subscribes to a topic and translates that message into a service call. This would effectively let you control the robot, record the commands, and play them back having the actions repeated(still through the node you wrote).

Answered By - BTables