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dynamixel torque controller does not move ax12 servo

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Hi, I would like to get torque control running on an AX-12 (final goal is to get a zero torque controller, so that the axle can be moved freely with less friction than the torque_disable mode) Using dynamixel_tutorial with one single AX-12 servo connected to ttyUSB0 (through a CM-5 in toss mode) I edited the dynamixel_joint_controllers.yaml to read pan_controller: controller: package: dynamixel_controllers module: join_torque_controller type: JointTorqueController joint_name: pan_joint joint_speed: 2.0 motor: id: 14 init: 512 min: 0 max: 1023 and of course the spawner launch file to use this pan_controller. Things start well, I can see the motor_state etc... but sending commands to the pan_controller/command topic will not move the motor at all (should move with non-null torques). I checked, speeds are well sent to the motor but it does not move. I also tested putting min and max to 0 for the position to get the "wheel" mode. torque_limit is high as well as speed_limit motor moves nicely with the position controller but nothing happens with the torque controller What do I do wrong ? Is it possible to control torque(speed) only on an AX-12 ? thanks.

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