An interface to the Dynamixel actuators for ROS control

This package contains a configurable node, services and a spawner script to start, stop and restart one or more controller plugins. Reusable controller types are defined for common Dynamixel motor joints. Both speed and torque can be set for each joint. This python package can be used by more specific robot controllers and all configurable parameters can be loaded via a yaml file.

This package provides low level IO for Robotis Dynamixel servos. Fully supports and was tested with AX-12, AX-18, RX-24, RX-28, MX-28, RX-64, EX-106 models. Hardware specific constants are defined for reading and writing information from/to Dynamixel servos. This low level package won't be used directly by most ROS users. The higher level dynamixel_controllers and specific robot joint controllers make use of this package.

This stack contains packages that are used to interface with Robotis Dynamixel line of servo motors. This stack was tested with and fully supports AX-12, AX-18, RX-24, RX-28, MX-28, RX-64, MX-64, EX-106 and MX-106 models.

Common messages used throughout dynamixel_motor stack.

This package is wrapping version of ROBOTIS Dynamxel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.

Example configuration and launch file for dynamixel_motor stack.

Dynamixel-Workbench is dynamixel solution for ROS. This metapackage allows you to easily change the ID, baudrate and operating mode of the Dynamixel. Furthermore, it supports various controllers based on operating mode and Dynamixel SDK. These controllers are commanded by operators.

This package contains examples of applying the 'dynamixel_workbench_toolbox' library developed on the basis of dynamixel_sdk to various operating modes of Dynamixel.

This package includes ROS messages and services for dynamixel_workbench packages

This package contains nodes that control the Dynamixel by communicating with the server registered in the 'dynamixel_workbench_controllers' package

This package is single manager for a Dynamixel. It provides a terminal environment to check the status of Dynamixel and control it before using Dynamixel

It provides a grapic user interface to check the status of Dynamixel and control it before using Dynamixel

This package is composed of 'dynamixel_item', 'dynamixel_tool', 'dynamixel_driver' and 'dynamixel_workbench' class. The 'dynamixel_item' is saved as control table item and information of Dynamixels. The 'dynamixel_tool' class loads its by model number of Dynamixels. The 'dynamixel_driver' class includes wraped function used in DYNAMIXEL SDK. The 'dynamixel_workbench' class make simple to use Dynamixels

Driver package for Wacohtech dynpick force sensor. This contains

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Meta-package for the earth_rover_piksi repository.

Python library to assist in publishing markers easily

eband_local_planner implements a plugin to the base_local_planner. It implements the Elastic Band method on the SE2 manifold.

Configuration and launch files to control the ECA A9 AUV

Robot description for the ECA A9 AUV

Package with launch files for demonstrations with the ECA A9 AUV

Metapackage bringing all of ecl together.

Collection of cmake/make build tools primarily for ecl development itself, but also contains a few cmake modules useful outside of the ecl.

Embeds the TCLAP library inside the ecl. This is a very convenient command line parser in templatised c++.

Introduces a compile time concept checking mechanism that can be used most commonly to check for required functionality when passing template arguments.

These tools inspect and describe your system with macros, types and functions.

Color codes for ansii consoles.

The containers included here are intended to extend the stl containers. In all cases, these implementations are designed to implement c++ conveniences and safety where speed is not sacrificed. Also includes techniques for memory debugging of common problems such as buffer overruns.

Some fast/convenient type converters, mostly for char strings or strings. These are not really fully fleshed out, alot of them could use the addition for the whole range of fundamental types (e.g. all integers, not just int, unsigned int). They will come as the need arises.

These are a very simple version of some of the functions in ecl_converters suitable for firmware development. That is, there is no use of new, templates or exceptions.

A set of tools and interfaces extending the capabilities of c++ to provide a lightweight, consistent interface with a focus for control programming.

This includes a suite of programs demo'ing various aspects of the ecl_core. It also includes various benchmarking and utility programs for use primarily with embedded systems.

Provides an extensible and standardised framework for input-output devices.

This provides an Eigen implementation for ecl's linear algebra.

This library provides lean and mean error mechanisms. It includes c style error functions as well as a few useful macros. For higher level mechanisms, refer to ecl_exceptions.

Template based exceptions - these are simple and practical and avoid the proliferation of exception types. Although not syntatactically ideal, it is convenient and eminently practical.

Cross platform filesystem utilities (until c++11 makes its way in).

The formatters here simply format various input types to a specified text format. They can be used with most streaming types (including both ecl and stl streams).

Any tools relating to mathematical geometry. Primarily featuring polynomials and interpolations.

Most implementations (windows, posix, ...) have slightly different api for low level input-output functions. These are gathered here and re-represented with a cross platform set of functions.

Interprocess mechanisms vary greatly across platforms - sysv, posix, win32, there are more than a few. This package provides an infrastructure to allow for developing cross platform c++ wrappers around the lower level c api's that handle these mechanisms. These make it not only easier to utilise such mechanisms, but allow it to be done consistently across platforms.

Maintains the ecl licenses and also provides an install target for deploying licenses with the ecl libraries.