Dynamixel ROS Control
=====================

dynamixel_control_hw
------------

`dynamixel_control_hw <https://github.com/resibots/dynamixel_control_hw>`__ is a high-performance `ROS control <http://wiki.ros.org/ros_control>`__ package for Dynamixel actuators (`ROBOTIS  <http://emanual.robotis.com/>`__ ).

ROS control is a framework for control loops in `ROS <https://www.ros.org/>`__ 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.

Features
--------

* simple, ROS-style control interface for your dynamixel-based robot
* not specific to a given number or set of actuators
* position and velocity control
* works with both version of Dynamixel protocol (1 and 2)
* uses radians uniformly over all Dynamixel models (no need to worry about ticks-to-angle conversion)
* you can set an offset for each actuator's position
* set names for your dynamixels in a configuration file
* joint limits

Overview
--------

.. image:: pics/roscontrol_dynamixel.png
  :alt: ROS control overview
  :target: _static/roscontrol_dynamixel.png
  :align: center

Contents
--------

.. toctree::
  :hidden:
  :caption: dynamixel_control_hw

.. toctree::
  :maxdepth: 2

  self
  tutorials/index
  reference/index


Indices and tables
------------------

* :ref:`genindex`
* :ref:`search`

Support
-------

If you need some help, feel free to `fill an issue  <https://github.com/resibots/dynamixel_control_hw/issues>`__ on this repository. We’ll do our best to be responsive.

License and authors
-------------------

This work is distributed under the terms of the `CeCILL-C <http://www.cecill.info/licences.en.html>`_ license. © INRIA.

The authors for this library are Dorian Goepp, Eloïse Dalin and Pierre Desreumaux.