ROS Motor Controller Drivers
This page aggregates all ROS packages that allow interfacing with a motor controller or servo controller.
Contents
PhidgetMotorControl HC (1064)
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
- 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 Workbench
Official Packages ROBOTIS
dynamixel_motor
Esmacat Motor Driver
Official Contact Page: Esmacat
Motor Driver 250
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.
ROS Driver for Communication with Motor Controller. Publish Subscriber Model written in C++.