+ if (dynamixel_readdword(11, XM_HOMING_OFFSET, &homing_offset) != 1) {
+ ROS_ERROR("I2C dynamixel id=11 read homing offset error");
+ exit(1);
+ }
+ if (homing_offset != 64) {
+ if (dynamixel_writedword(11, XM_HOMING_OFFSET, 64) != 1) {
+ ROS_ERROR("I2C dynamixel id=11 write homing offset error");
+ exit(1);
+ }
+ }