Dynamixel ROS Control

dynamixel_control_hw

dynamixel_control_hw is a high-performance ROS control package for Dynamixel actuators (ROBOTIS ).

ROS control is a framework for control loops in ROS where the controller code is decoupled from the actual hardware interface.

Dynamixel is a range of all-in-one actuators (motor, gearbox, control board, PID, etc.) addressed through a RS-485 bus, which are very popular in robotics.

Features

• simple, ROS-style control interface for your dynamixel-based robot
• not specific to a given number or set of actuators
• position and velocity control
• works with both version of Dynamixel protocol (1 and 2)
• uses radians uniformly over all Dynamixel models (no need to worry about ticks-to-angle conversion)
• you can set an offset for each actuator’s position
• set names for your dynamixels in a configuration file
• joint limits

Overview

Contents

• Dynamixel ROS Control
• Tutorials
  • Quick Start
  • Download and Compilation
  • URDF file
  • Configuration file
  • Launch file
  • Testing the hardware interface
• Reference
  • Architecture
  • Control loop
  • Hardware interface

Indices and tables

• Index
• Search Page

Support

If you need some help, feel free to fill an issue on this repository. We’ll do our best to be responsive.

License and authors

This work is distributed under the terms of the CeCILL-C license. © INRIA.

The authors for this library are Dorian Goepp, Eloïse Dalin and Pierre Desreumaux.