Eloïse Dalin, Pierre Desreumaux and Jean-Baptiste Mouret ( INRIA / CNRS / Université de Lorraine)
dynamixel_control_hw is a high-performance ROS control package for Dynamixel actuators (ROBOTIS). ROS control is a framework for control loops in ROS where the controller code is decoupled from the actual hardware interface; Dynamixel is a range of all-in-one actuators (motor, gearbox, control board, PID, etc.) addressed through a RS-485 bus, which are very popular in robotics. In this presentation, we will describe the main design choices of our package, a few performance results (300 Hz for 18 actuators), and how to use it in your own projects. We will also show our package in action with a live demo with a Dynamixel-based 6-legged robot (18 actuators).