Great work :smile:
How dependent is this on the dynamixel protocol? Of course the hardware is, but do the message also contain specifics? btw, which messages are you using?
Apropos, @vmayoral already mentioned HRIM, which is their proposal on meta-data describing hardware (at least that's how I understood it :slight_smile:). I've also seen other work which uses a big YAML file with meta-data. Interoperability and pluggability would greatly benefit if the community could agree on this. How about a meeting on this at the ROSCon?
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