:floppy_disk: ros2_dynamixel_bridge

This package provides the interface between ROS2 and Robotis Dynamixel servos.

How-to-build

cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/ros2_dynamixel_bridge
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select ros2_dynamixel_bridge

How-to-run

cd $COLCON_WS
. install/setup.bash
ros2 launch ros2_dynamixel_bridge bridge-default.py

or

cd $COLCON_WS
ros2 launch ros2_dynamixel_bridge bridge-l3xz.py

Upon start-up the ROS2 node will scan the connected bus and automatically create topics for each discovered Robotis Dynamixel servo.

Interface Documentation

Subscribed Topics

Default name	Type	Description
/dynamixel/servo_1/angle/target	std_msgs/Float32	Servo #1 target angle / rad
/dynamixel/servo_1/angular_velocity/target	std_msgs/Float32	Servo #1 target angular velocity / rad/sec
/dynamixel/servo_1/mode/set	msg/Mode.msg	Servo #1 operation mode (Position Control / Angular Velocity Control)
/dynamixel/servo_2/angle/target	std_msgs/Float32	Servo #2 target angle / rad
/dynamixel/servo_2/angular_velocity/target	std_msgs/Float32	Servo #2 target angular velocity / rad/sec
/dynamixel/servo_2/mode/set	msg/Mode.msg	Servo #2 operation mode (Position Control / Angular Velocity Control)
...	...	...
/dynamixel/servo_n/angle/target	std_msgs/Float32	Servo #n target angle / rad
/dynamixel/servo_n/angular_velocity/target	std_msgs/Float32	Servo #n target angular velocity / rad/sec
/dynamixel/servo_n/mode/set	msg/Mode.msg	Servo #n operation mode (Position Control / Angular Velocity Control)

Published Topics

Default name	Type	Description
/l3xz/ros2_dynamixel_bridge/heartbeat	std_msgs/UInt64	Heartbeat signal containing the node uptime in seconds.
/dynamixel/servo_1/angle/actual	std_msgs/Float32	Servo #1 current angle / rad
/dynamixel/servo_2/angle/actual	std_msgs/Float32	Servo #1 current angle / rad
...	...	...
/dynamixel/servo_n/angle/actual	std_msgs/Float32	Servo #n current angle / rad

Parameters

Name	Default	Description
serial_port	/dev/ttyUSB0	Serial port of RS485 bus.
serial_port_baudrate	2 Mbps	Serial baud rate of RS485 bus.
required_node_id_list	{1, 2, 3, 4, 5, 6, 7, 8}	A list of required Dynamixel servo IDs to be uncovered during startup.
check_required_node_id_list	True	If this parameter is True then the discovered servo IDs are compared with the required_node_id_list during startup.