ROS Motor Controller Drivers

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

PhidgetMotorControl HC (1064)

phidgets-ros-pkg

Node Architecture

  • Publisher/Subscriber model
  • Subscribes to:
  • Publishes:
    • phidgets/motorcontrol motor_params (motor index, velocity, and current)

Roboteq AX2550 Motor Controller

au_automow_drivers

Node Architecture

Robotis Dynamixel Servos

Dynamixel SDK

Dynamixel Workbench

dynamixel_motor

EsmaCAT Motor Driver

Official Contact Page: EsmaCAT

Motor Driver 250

Node Architecture

  • The Motor Driver 250 can be controlled with a Publisher/Subscriber model

  • Tutorial located under Guidance of ROS with EsmaCAT

  • Subscribes to custom message:
    • esmacat_ros_tutorial/Ecatmd250Read.h (motor encoder value, 2 analog inputs from external source)
  • Publishes to custom message:
    • esmacat_ros_tutorial/Ecatmd250Write.h (motor enable switch, speed control setpoint, position control setpoint)

Wiki: Motor Controller Drivers (last edited 2019-03-12 15:26:57 by EsmaCAT)