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https://github.com/dynamixel-community/dynamixel_hardware
ros2_control packages for ROBOTIS Dynamixel
https://github.com/dynamixel-community/dynamixel_hardware
cpp dynamixel robotics robotis ros2 ros2-control ros2-foxy ros2-humble ros2-rolling
Last synced: 3 months ago
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ros2_control packages for ROBOTIS Dynamixel
- Host: GitHub
- URL: https://github.com/dynamixel-community/dynamixel_hardware
- Owner: dynamixel-community
- License: apache-2.0
- Created: 2021-01-22T07:20:11.000Z (about 4 years ago)
- Default Branch: rolling
- Last Pushed: 2024-05-12T09:44:00.000Z (9 months ago)
- Last Synced: 2024-08-04T10:06:03.747Z (6 months ago)
- Topics: cpp, dynamixel, robotics, robotis, ros2, ros2-control, ros2-foxy, ros2-humble, ros2-rolling
- Language: C++
- Homepage:
- Size: 1.32 MB
- Stars: 109
- Watchers: 6
- Forks: 49
- Open Issues: 19
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# dynamixel_hardware
The [`ros2_control`](https://github.com/ros-controls/ros2_control) implementation for any kind of [ROBOTIS Dynamixel](https://emanual.robotis.com/docs/en/dxl/) robots.
The `dynamixel_hardware` package is the [`SystemInterface`](https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/system_interface.hpp) 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](http://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). Then follow the instruction below.
```shell
$ 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`](https://github.com/youtalk/dynamixel_hardware_examples/blob/main/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro#L9-L12) 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 `,`.
```xml
dynamixel_hardware/DynamixelHardware
/dev/ttyUSB0
1000000
```
- Terminal 1
Launch the `ros2_control` manager for the OpenManipulator-X.
```shell
$ 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.
```shell
$ 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.
```shell
$ 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]"
```
[](https://www.youtube.com/watch?v=EZtBaU-otzI)
## Demo with dummy ROBOTIS OpenManipulator-X
The `use_dummy` parameter is required if you use the dummy OpenManipulator-X.
```diff
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 @@
/dev/ttyUSB0
1000000
-
+ true
11
```
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.