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

• 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.

  • ROS and C/C++ EsmaCAT software preinstalled.

• Structure of EtherCAT motor control with ROS

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)