db_beta_interface

The dynamixel motors interface software for Hexapod robot in ROS 2

This project is developed based on the previous project in ROS 1 (db_alpha_interface)

This project is developed based on the ROS 2 (test with humble, jazzy version) with Ubuntu 22, 24

Installation guide

• First, install the ROS2 desktop version Example: ros2 humble documentation. Note: Installing ROS-Base Install (Bare Bones) might not have all dependencies related for build the packages

• install dynamixel related dependencies, and create ros2 workspace folder.

sudo apt-get install ros-[ROS Distribution]-dynamixel-sdk

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git

git clone https://github.com/Leung555/db_beta_interface.git

Build

• build the project using colcon build

colcon build

Parameters Config

In this version, we need to change the configuration parameters in the code of the /src/position_controller or src/reboot.cpp files such as scan_id, portname, buadrate. Normally the parameters are set as follows:

• scan_id: 73 (The interface will search the motors upto the scan_id)
• portname: /dev/ttyUSB
• buadrate: 4000000

Running the interface

There are 2 functions :

1. position control : enable all motors as position control mode.
2. reboot

Dynamixel SDK for XL-320 Model

For running the interface with XL-320 Model please check out branch XL320