Velocity control using ROS 2 about dynamixelsdk

[shiba-8ro]

agreement +1

[Actat]

I have found an unofficial way to solve my problem.
Is there an official way?

Actat@84d759e

[anasderkaoui]

Hello @Actat !
Can you please provide us with the full modifications that you did to the code.
I am at the same page, I want to use an MX-106 servo in velocity mode but I cannot get it done. I modified the code accordingly to yours @Actat 84d759e (ADDR_GOAL_VELOCITY 104 and id 1, addresses according to my servomotor) but the motor is still in position mode !
The command lines also seem to control position mode only: ros2 run dynamixel_sdk_examples read_write_node
returns Something like "[GOAL Position: 0]"
The other command also controls position : ros2 topic pub -1 /set_position dynamixel_sdk_custom_interfaces/msg/SetPosition "{id: 12, position: 1000}"
Is there another command that you used other than these ones above ?