This package contains a template to operate hardware with the hardware interface of the ros_control package.
The template has specific implementations for the Dynamixel MX-106 servo motor and the Trinamic TCMC-1640 brushless motor controller board.
The template is designed to define setup as well as hardware specific properties in custom yaml files.
Additionally, a reconfigure server is hosted for the hardware in order to change hardware properties during operation.
Note: some hardware properties might not be changeable during operation or may require the hardware to be set to a specific state before the hardware parameters can be changed.
Make sure to understand how ros_control works before making any changes to this package.
A good starting point to learn about ros_control is this post.
Furthermore, make sure to understand the functionality of dynamic reconfigure and ddynamic_reconfigure.
Metapackage for tuw_hardware_interface.
This package contains the hardware interface specific to the requirements of the Dynamixel MX-106.
For this reason this package is based on the tuw_hardware_interface_template.
This package is exported as a library in order to be used by other packages.
For more details check tuw_hardware_interface_dynamixel/README.md.
This package contains a template version of the hardware interface with the aforementioned features.
For more details check tuw_hardware_interface_template/README.md.
This package contains the hardware interface specific to the requirements of the Trinamic TCMC-1640.
For this reason this package is based on the tuw_hardware_interface_template.
This package is exported as a library in order to be used by other packages.
For more details check tuw_hardware_interface_trinamic/README.md.