ROS Programming: Building Powerful Robots

Dynamixel-ROS interface

The ROS stack for interfacing the Dynamixel motor is dynamixel_motor. This stack contains interface for Dynamixel motors such as MX-28, MX64, MX-106, RX-28, RX64, EX106, AX-12, and AX-18. The stack consists of the following packages:

• dynamixel_driver: This package is the driver package of Dynamixel, which can do low level IO communication with Dynamixel from PC. This driver has hardware interface for the previously mentioned series of servos and can do the read /write operation to Dynamixel through this package. This package is used by high level packages such as dynamixel_controllers. There are only few cases when the user directly interacts with this package.
• dynamixel_controllers: This is a higher level package ...