## page was renamed from Motor+Controller+Drivers
= ROS Motor Controller Drivers =

This page aggregates all ROS packages that allow interfacing with a motor controller or servo controller.


<<TableOfContents(2)>>


== PhidgetMotorControl HC (1064) ==

 * http://www.phidgets.com/products.php?category=12&product_id=1064

=== phidgets-ros-pkg ===

 * https://launchpad.net/phidgets-ros-pkg
 * Written in C++

==== Node Architecture ====

 * Publisher/Subscriber model
 * Subscribes to:
  * cmd_vel ([[geometry_msgs|geometry_msgs.msg.Twist]])
 * Publishes:
  * phidgets/motorcontrol motor_params (motor index, velocity, and current)

== Roboteq AX2550 Motor Controller ==

=== au_automow_drivers ===

 * http://www.ros.org/browse/details.php?name=ax2550_python
 * Python and C++ available
 * Code at https://github.com/Auburn-Automow/au_automow_drivers

==== Node Architecture ====

 * Publisher/Subscriber model
 * https://github.com/Auburn-Automow/au_automow_drivers/tree/master/ax2550_python/nodes
 * Subscribes to:
  * cmd_vel ([[geometry_msgs|geometry_msgs.msg.Twist]])
 * Publishes:
  * base_odom ([[nav_msgs|nav_msgs.msg.Odometry]])
  * base_pose ([[geometry_msgs|geometry_msgs.msg.PoseStamped]])

== Robotis Dynamixel Servos ==

=== Dynamixel SDK ===
 * Official Packages ''[[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''
 * [[dynamixel_sdk]]

=== Dynamixel Workbench ===
 * Official Packages ''[[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''
 * [[dynamixel_workbench|dynamixel_workbench (metapackage)]]
  * [[dynamixel_workbench_single_manager]]
  * [[dynamixel_workbench_single_manager_gui]]
  * [[dynamixel_workbench_controllers]]
  * [[dynamixel_workbench_msgs]]
  * [[dynamixel_workbench_toolbox]]
  * [[dynamixel_workbench_tutorials]]

=== dynamixel_motor ===
 * [[dynamixel_motor]]