ROS Motor Controller Drivers

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

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.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.msg.Twist)

• Publishes:

  • base_odom (nav_msgs.msg.Odometry)

  • base_pose (geometry_msgs.msg.PoseStamped)

Robotis Dynamixel Servos

Dynamixel SDK

• Official Packages ROBOTIS

• dynamixel_sdk

Dynamixel Workbench

• Official Packages ROBOTIS

• 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

Esmacat Motor Driver

Official Contact Page: Esmacat

Motor Driver 250

• Motor Driver 250 product page

• Mini Torque Driver 250 product page

• Esmacat is a powerful platform that can be used to develop DAQ sensor interfaces and motion control applications with hard real-time constraints. Connecting a Motor Driver 250 with an analog input DAQ and load-cell interface is simple via an EtherCAT daisy chain.

• Integration with a server PC is available for hard real-time motion control applications with C/C++ Esmacat software preinstalled. Server PC includes ROS integration for EtherCAT Arduino Shield by Esmacat (EASE). Other products to be integrated before Fall of 2020.

• Structure of EtherCAT motor control with ROS

Chip Robotics

Contact page: Chip Robotics Product Website: https://chiprobotics.com

Brushless DC Motor Controller

• Product Page Motor controller for a single brushless DC motor. Easy to communicate using USB or UART.

• Detailed API for communication.

• ROS Driver for Communication with Motor Controller. Publish Subscriber Model written in C++.

• GitHub page for ROS Driver.

Sinusoidal Software and Robotics

Company Page : https://sinusoidal.com.tr

Magistral Series BLDC Driver Datasheet : https://sinusoidal.com.tr/datasheets/BLDCDriver_Datasheet_v0.pdf

Github Repo : https://github.com/muratkayamurat/MagistralBldcDriver

Store : https://sinusoidal.com.tr/Store.html

Magistral Series BLDC Driver

Magistral series are a high performance, cost-effective, 3phase BLDC motor drivers. The design of Magistal series drivers is based on advanced DSP technologies with safety measures. Magistrals can provide high tork, low noise, low vibration, PID speed loop, PID tork loop, over curent protection, over load protection and combined with manual control.