dynamixel_hardware repository

Repository Summary

Checkout URI https://github.com/dynamixel-community/dynamixel_hardware.git
VCS Type git
VCS Version humble
Last Updated 2022-11-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

dynamixel_control

The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.

  • dynamixel_hardware: the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.
  • open_manipulator_x_description: the reference implementation of the ros2_control robot using ROBOTIS OpenManipulator-X.

The dynamixel_hardware package is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.

Set up

First install ROS 2 Humble on Ubuntu 22.04. Then follow the instruction below.

$ source /opt/ros/humble/setup.bash
$ mkdir -p ~/ros/humble && cd ~/ros/humble
$ git clone https://github.com/youtalk/dynamixel_control.git src
$ vcs import src < src/dynamixel_control.repos
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
$ . install/setup.bash

Demo with real ROBOTIS OpenManipulator-X

Configure Dynamixel motor parameters

Update the usb_port, baud_rate, and joint_ids parameters on open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro to correctly communicate with Dynamixel motors. The use_dummy parameter is required if you don't have a real OpenManipulator-X.

Note that joint_ids parameters must be splited by ,.

<hardware>
  <plugin>dynamixel_hardware/DynamixelHardware</plugin>
  <param name="usb_port">/dev/ttyUSB0</param>
  <param name="baud_rate">1000000</param>
  <!-- <param name="use_dummy">true</param> -->
</hardware>

  • Terminal 1

Launch the ros2_control manager for the OpenManipulator-X.

$ ros2 launch open_manipulator_x_description open_manipulator_x.launch.py

  • Terminal 2

Start the joint_trajectory_controller and send a /joint_trajectory_controller/follow_joint_trajectory goal to move the OpenManipulator-X.

$ ros2 control switch_controllers --activate joint_state_broadcaster --activate joint_trajectory_controller --deactivate velocity_controller
$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [joint1, joint2, joint3, joint4, gripper],
    points: [
      { positions: [0.1, 0.1, 0.1, 0.1, 0], time_from_start: { sec: 2 } },
      { positions: [-0.1, -0.1, -0.1, -0.1, 0], time_from_start: { sec: 4 } },
      { positions: [0, 0, 0, 0, 0], time_from_start: { sec: 6 } }
    ]
  }
}"

If you would like to use the velocity control instead, switch to the velocity_controller and publish a /velocity_controller/commands message to move the OpenManipulator-X.

$ ros2 control switch_controllers --activate joint_state_broadcaster --deactivate joint_trajectory_controller --activate velocity_controller
$ ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [0.1, 0.1, 0.1, 0.1, 0]"

dynamixel_control: the ros2_control implementation for any kind of ROBOTIS Dynamixel robots

Demo with dummy ROBOTIS OpenManipulator-X

The use_dummy parameter is required if you use the dummy OpenManipulator-X.

diff --git a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
index c6cdb74..111846d 100644
--- a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
@@ -9,7 +9,7 @@
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
-        <!-- <param name="use_dummy">true</param> -->
+        <param name="use_dummy">true</param>
       </hardware>
       <joint name="joint1">
         <param name="id">11</param>

Then follow the same instruction of the real robot one.

Note that the dummy implementation has no interpolation so far. If you sent a joint message, the robot would move directly to the joints without interpolation.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/dynamixel-community/dynamixel_hardware.git
VCS Type git
VCS Version galactic
Last Updated 2022-11-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

dynamixel_control

The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.

  • dynamixel_hardware: the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.
  • open_manipulator_x_description: the reference implementation of the ros2_control robot using ROBOTIS OpenManipulator-X.

The dynamixel_hardware package is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.

Set up

First install ROS 2 Foxy on Ubuntu 20.04. Then follow the instruction below.

$ source /opt/ros/foxy/setup.bash
$ mkdir -p ~/ros/foxy && cd ~/ros/foxy
$ git clone https://github.com/youtalk/dynamixel_control.git src
$ vcs import src < src/dynamixel_control.repos
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
$ . install/setup.bash

Demo with real ROBOTIS OpenManipulator-X

Configure Dynamixel motor parameters

Update the usb_port, baud_rate, and joint_ids parameters on open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro to correctly communicate with Dynamixel motors. The use_dummy parameter is required if you don't have a real OpenManipulator-X.

Note that joint_ids parameters must be splited by ,.

<hardware>
  <plugin>dynamixel_hardware/DynamixelHardware</plugin>
  <param name="usb_port">/dev/ttyUSB0</param>
  <param name="baud_rate">1000000</param>
  <!-- <param name="use_dummy">true</param> -->
</hardware>

  • Terminal 1

Launch the ros2_control manager for the OpenManipulator-X.

$ ros2 launch open_manipulator_x_description open_manipulator_x.launch.py

  • Terminal 2

Start the joint_trajectory_controller and send a /joint_trajectory_controller/follow_joint_trajectory goal to move the OpenManipulator-X.

$ ros2 control switch_controllers --start joint_state_broadcaster --start joint_trajectory_controller --stop velocity_controller
$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [joint1, joint2, joint3, joint4, gripper],
    points: [
      { positions: [0.1, 0.1, 0.1, 0.1, 0], time_from_start: { sec: 2 } },
      { positions: [-0.1, -0.1, -0.1, -0.1, 0], time_from_start: { sec: 4 } },
      { positions: [0, 0, 0, 0, 0], time_from_start: { sec: 6 } }
    ]
  }
}"

If you would like to use the velocity control instead, switch to the velocity_controller and publish a /velocity_controller/commands message to move the OpenManipulator-X.

$ ros2 control switch_controllers --start joint_state_broadcaster --stop joint_trajectory_controller --start velocity_controller
$ ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [0.1, 0.1, 0.1, 0.1, 0]"

dynamixel_control: the ros2_control implementation for any kind of ROBOTIS Dynamixel robots

Demo with dummy ROBOTIS OpenManipulator-X

The use_dummy parameter is required if you use the dummy OpenManipulator-X.

diff --git a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
index c6cdb74..111846d 100644
--- a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
@@ -9,7 +9,7 @@
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
-        <!-- <param name="use_dummy">true</param> -->
+        <param name="use_dummy">true</param>
       </hardware>
       <joint name="joint1">
         <param name="id">11</param>

Then follow the same instruction of the real robot one.

Note that the dummy implementation has no interpolation so far. If you sent a joint message, the robot would move directly to the joints without interpolation.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/dynamixel-community/dynamixel_hardware.git
VCS Type git
VCS Version foxy
Last Updated 2021-10-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

dynamixel_control

The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.

  • dynamixel_hardware: the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.
  • open_manipulator_x_description: the reference implementation of the ros2_control robot using ROBOTIS OpenManipulator-X.

The dynamixel_hardware package is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.

Set up

First install ROS 2 Foxy on Ubuntu 20.04. Then follow the instruction below.

$ source /opt/ros/foxy/setup.bash
$ mkdir -p ~/ros/foxy && cd ~/ros/foxy
$ git clone https://github.com/youtalk/dynamixel_control.git src
$ vcs import src < src/dynamixel_control.repos
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
$ . install/setup.bash

Demo with real ROBOTIS OpenManipulator-X

Configure Dynamixel motor parameters

Update the usb_port, baud_rate, and joint_ids parameters on open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro to correctly communicate with Dynamixel motors. The use_dummy parameter is required if you don't have a real OpenManipulator-X.

Note that joint_ids parameters must be splited by ,.

<hardware>
  <plugin>dynamixel_hardware/DynamixelHardware</plugin>
  <param name="usb_port">/dev/ttyUSB0</param>
  <param name="baud_rate">1000000</param>
  <!-- <param name="use_dummy">true</param> -->
</hardware>

  • Terminal 1

Launch the ros2_control manager for the OpenManipulator-X.

$ ros2 launch open_manipulator_x_description open_manipulator_x.launch.py

  • Terminal 2

Start the joint_trajectory_controller and send a /joint_trajectory_controller/follow_joint_trajectory goal to move the OpenManipulator-X.

$ ros2 control switch_controllers --start joint_state_broadcaster --start joint_trajectory_controller --stop velocity_controller
$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [joint1, joint2, joint3, joint4, gripper],
    points: [
      { positions: [0.1, 0.1, 0.1, 0.1, 0], time_from_start: { sec: 2 } },
      { positions: [-0.1, -0.1, -0.1, -0.1, 0], time_from_start: { sec: 4 } },
      { positions: [0, 0, 0, 0, 0], time_from_start: { sec: 6 } }
    ]
  }
}"

If you would like to use the velocity control instead, switch to the velocity_controller and publish a /velocity_controller/commands message to move the OpenManipulator-X.

$ ros2 control switch_controllers --start joint_state_broadcaster --stop joint_trajectory_controller --start velocity_controller
$ ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [0.1, 0.1, 0.1, 0.1, 0]"

dynamixel_control: the ros2_control implementation for any kind of ROBOTIS Dynamixel robots

Demo with dummy ROBOTIS OpenManipulator-X

The use_dummy parameter is required if you use the dummy OpenManipulator-X.

diff --git a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
index c6cdb74..111846d 100644
--- a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
@@ -9,7 +9,7 @@
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
-        <!-- <param name="use_dummy">true</param> -->
+        <param name="use_dummy">true</param>
       </hardware>
       <joint name="joint1">
         <param name="id">11</param>

Then follow the same instruction of the real robot one.

Note that the dummy implementation has no interpolation so far. If you sent a joint message, the robot would move directly to the joints without interpolation.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/dynamixel-community/dynamixel_hardware.git
VCS Type git
VCS Version rolling
Last Updated 2022-11-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
dynamixel_hardware 0.0.0

README

dynamixel_hardware

The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.

The dynamixel_hardware package is the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.

It is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.

Set up

First install ROS 2 Rolling on Ubuntu 22.04. Then follow the instruction below.

$ source /opt/ros/rolling/setup.bash
$ mkdir -p ~/ros/rolling && cd ~/ros/rolling/src
$ git clone https://github.com/youtalk/dynamixel_hardware.git
$ git clone https://github.com/youtalk/dynamixel_hardware_examples.git
$ cd -
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
$ . install/setup.bash

Demo with real ROBOTIS OpenManipulator-X

Configure Dynamixel motor parameters

Update the usb_port, baud_rate, and joint_ids parameters on open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro to correctly communicate with Dynamixel motors. The use_dummy parameter is required if you don't have a real OpenManipulator-X.

Note that joint_ids parameters must be splited by ,.

<hardware>
  <plugin>dynamixel_hardware/DynamixelHardware</plugin>
  <param name="usb_port">/dev/ttyUSB0</param>
  <param name="baud_rate">1000000</param>
  <!-- <param name="use_dummy">true</param> -->
</hardware>

  • Terminal 1

Launch the ros2_control manager for the OpenManipulator-X.

$ ros2 launch open_manipulator_x_description open_manipulator_x.launch.py

  • Terminal 2

Start the joint_trajectory_controller and send a /joint_trajectory_controller/follow_joint_trajectory goal to move the OpenManipulator-X.

$ ros2 control switch_controllers --activate joint_state_broadcaster --activate joint_trajectory_controller --deactivate velocity_controller
$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [joint1, joint2, joint3, joint4, gripper],
    points: [
      { positions: [0.1, 0.1, 0.1, 0.1, 0], time_from_start: { sec: 2 } },
      { positions: [-0.1, -0.1, -0.1, -0.1, 0], time_from_start: { sec: 4 } },
      { positions: [0, 0, 0, 0, 0], time_from_start: { sec: 6 } }
    ]
  }
}"

If you would like to use the velocity control instead, switch to the velocity_controller and publish a /velocity_controller/commands message to move the OpenManipulator-X.

$ ros2 control switch_controllers --activate joint_state_broadcaster --deactivate joint_trajectory_controller --activate velocity_controller
$ ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [0.1, 0.1, 0.1, 0.1, 0]"

dynamixel_control: the ros2_control implementation for any kind of ROBOTIS Dynamixel robots

Demo with dummy ROBOTIS OpenManipulator-X

The use_dummy parameter is required if you use the dummy OpenManipulator-X.

diff --git a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
index c6cdb74..111846d 100644
--- a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
@@ -9,7 +9,7 @@
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
-        <!-- <param name="use_dummy">true</param> -->
+        <param name="use_dummy">true</param>
       </hardware>
       <joint name="joint1">
         <param name="id">11</param>

Then follow the same instruction of the real robot one.

Note that the dummy implementation has no interpolation so far. If you sent a joint message, the robot would move directly to the joints without interpolation.

CONTRIBUTING

No CONTRIBUTING.md found.