https://github.com/ar-ray-code/feetech_scs_ros2_driver
ROS2 Driver for FeeTech-SCS
https://github.com/ar-ray-code/feetech_scs_ros2_driver
feetech hardware-interface ros2 servo
Last synced: 10 months ago
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ROS2 Driver for FeeTech-SCS
- Host: GitHub
- URL: https://github.com/ar-ray-code/feetech_scs_ros2_driver
- Owner: Ar-Ray-code
- License: apache-2.0
- Created: 2023-02-07T14:37:51.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2024-04-15T10:23:43.000Z (about 2 years ago)
- Last Synced: 2024-05-01T17:48:04.026Z (about 2 years ago)
- Topics: feetech, hardware-interface, ros2, servo
- Language: C++
- Homepage:
- Size: 101 KB
- Stars: 10
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# feetech_scs_ros2_driver
ROS2 Driver for FeeTech-SCS
Hardware Interface : TODO
## Support 📜⚙️
### ROS2 Distro 🐢
| ROS2 Distro | Support |
| --- | --- |
| Humble | ✔️ |
### FeeTech-SCS ⚙️
https://pages.switch-science.com/comparison/feetech-servos#serial
| Product Name | Support |
| --- | --- |
| SCS0009 | ✔️ |
| SCS215 | |
| SCS115 | |
| SCS20-360T | |
| SCS15 | |
### FeeTech-STS
| Product Name | Support |
| --- | --- |
| STS3032 | |
## Installation
```bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/HarvestX/h6x_serial_interface.git -b humble
git clone https://github.com/Ar-Ray-code/feetech_scs_ros2_driver -b main
cd ../
colcon build
```
## Usage (Example)
Run `ros2 run ` to execute the example.
### Write Position
```bash
ros2 run feetech_scs_example write_pos 1 /dev/ttyUSB0 1000000
```
### Read position
```bash
ros2 run feetech_scs_example read_pos 1 /dev/ttyUSB0 1000000
```
### Write speed
```bash
ros2 run feetech_scs_example write_spd 1 /dev/ttyUSB0 1000000
```
### Read pwm
```bash
ros2 run feetech_scs_example read_spd 1 /dev/ttyUSB0 1000000
```