X-Series Robot Turrets are high resolution pan and tilt kits built around the high performance DYNAMIXEL X-Series smart servos from Robotis. The turrets are ideal for applications utilizing vision tracking or cameras.

The X-Series actuators offer higher torque, more efficient heat dissipation and better durability all at a smaller form factor over previous DYNAMIXEL servos.


Packages were tested on Ubuntu Linux 16.04 & 18.04 using ROS Kinetic and ROS Melodic respectively. Communication with the robot is done over USB via the U2D2. This device converts USB signals to TTL which allows a computer to 'talk' with each of the Dynamixel servo motors that make up each robot. For the most part, the ROS nodes were written in C++ with a couple nodes written in Python. However, any programming language capable of sending ROS messages can be used to control the robots. To that effect, the core packages that make up this repo are as follows:

  • interbotix_descriptions: contains the meshes and URDFs (including accurate inertial models for the robot-arm links) for the arms and turrets

  • interbotix_sdk: contains the driver node that controls the physical robot and publishes joint states.

  • interbotix_gazebo: contains the config files necessary to launch a robot arm (not turret) model in Gazebo, including tuned PID gains for ros_control

  • interbotix_moveit: contains the config files necessary to launch a robot arm (not turret) using MoveIt either in Gazebo or on the physical robot.

Finally, there is also an interbotix_examples directory containing various examples of how the above mentioned core packages can be used.

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Wiki: xseries_turrets (last edited 2020-02-11 17:31:33 by Rick)