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etherbotix's Introduction

Etherbotix Drivers

This ROS2 package contains ROS drivers for the Etherbotix board.

Uploading New Firmware

The upload script will reboot the Etherbotix into the bootloader and then upload the new firmware. Be sure to disable drivers before doing this:

ros2 run etherbotix upload /location/of/firmware.bin

Monitoring Board Status

In addition to the ROS tools, the low level monitor is available.

Monitor

The digital IO section uses the following notation:

  • A = analog input
  • I/O = digital input or output respectively
  • U = pin is in use by user io (SPI, USART, etc)
  • H/L = digital status of pin, high or low.

etherbotix's People

Contributors

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Stargazers

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Watchers

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etherbotix's Issues

ROS2/C++ Port

Working on porting this to ROS2, at the same time dumping the ancient python codebase and moving to robot_controllers:

  • create new Etherbotix class
    • Use the asio_ros example for ethernet comms
    • split ros functionality into new EtherbotixROS class
    • parse return packets
    • publish joint_states
    • add motors
    • add IMU
    • add IMU ros interface
    • expose device interface
    • add functionality to get returned dynamixel packets (for scripts)
    • add gps publisher
    • port functions for setting digital IO
  • create EtherbotixMotor class that also serves as JointHandle
  • create DynamixelServo joint handle and ros param interface to create them.
  • wrap Etherbotix class in boost::python
  • port read_etherbotix to c++
  • setup get_trace.py to use python bindings
  • port reboot.py to C++
  • port read_unique_id.py to C++
  • setup read_servo.py to use python bindings
  • setup monitor to use python bindings

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