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Which dynamixel package shoud be used?

asked 2017-05-16 18:21:25 -0600

jys gravatar image

updated 2017-05-17 11:49:32 -0600

Does anyone have experience with both "dynamixel_motor" and ("dynamixel_sdk" or "dynamixel_workbench") If I am understanding correctly, it seems that "dynamixel_motor" has long been the package ROS community has been using. However, now there is an official package from ROBOTIS called "dynamixel_sdk" and "dynamixel_workbench"? But, it does not yet seem popular.

I am leaning toward the official package because it is official package but does it have all capabilities of "dynamixel_motor" package? Has anybody tried these new official packages? Any thoughts on which package I should start with for my motors (MX-12W)?

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answered 2017-05-17 21:20:55 -0600

Darby Lim gravatar image

updated 2017-05-21 07:22:48 -0600

ROBOTIS has started ROS supports in earnest last year. We have many useful packages and maintain its every day.

The dynamixel_sdk is a ROS wrapper for the ROBOTIS Dynamixel SDK. It is a software development library that provides Dynamixel control functions(like "sync_write") for packet communication. It is designed for Dynamixel actuators using protocol 1.0(AX, RX, MX, PRO) or protocol 2.0(X series(It is NEW series!!)). Moreover, it supports all programming languages used by ROS(C++, Python).

The dynamixel_workbench is developed by using "dynamixel_sdk". ''single_manager'' shows Dynamixel status using ROS Topic and it can helps access all control tables of Dynamixel in terminal and even GUI("single_manager_gui"). So, anyone can change ID, Baudrate, Operating Mode and other data in ROS. (We have been developing "dynamixel_manager" in Linux version. It will be showed soon.) "dynamixel_workbench_controller" and "dynamixel_workbench_tutorial" are showed how to use "dynamixel_sdk" in ROS. It supports how to launch Dynamixel actuators have different operating mode. ROS user who want to use Dynamixel for their platform can use this packages.

"dynamixel_motor" is compact and user-friendly package and it has been supporting Dynamixel in ROS. We are grateful for maintainer who helps our products.

Nowadays, ROBOTIS supports ROS. "dynamixel_sdk" and "dynamixel_workbench" provide software for all Dynamixel actuator and its are updated every day. After using our nice packages, please feel free to give feedback or question. We are ready to any issues. Thanks :)

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answered 2017-05-17 16:50:08 -0600

130s gravatar image

So far I haven't figured out what are differences between two package suites. On the official Robotis repo I even asked a similar question. Given that dynamixel_motor's maintenance has gone stale unfortunately, your best bet might be to try the official one as long as it suites your need.

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Thanks for your answer. Do you know if all these things listed here in dynamixel_controllers (dynamixel_motor) tutorials are possible to do with dynamixel_workbench packages?

jys gravatar image jys  ( 2017-05-17 18:18:32 -0600 )edit

I don't know since I no longer use the motor at the moment, but sounds like the manufacturer takes this interest seriously. See (and maybe continue discussion in) the linked ticket.

130s gravatar image 130s  ( 2017-05-17 20:05:40 -0600 )edit

Yes. dynamixel_workbench packages supports all functions has dynamixel_motor.

Darby Lim gravatar image Darby Lim  ( 2017-05-17 21:22:53 -0600 )edit

Great information; thanks! Does dynamixel_sdk provide any other advantage over dynamixel_motors, in terms of performance or features? I'm already using dynamixel_motors without any problem, so it's anyway worth doing the effort of porting to dynamixel_sdk? Thanks

jorge gravatar image jorge  ( 2017-08-11 17:36:37 -0600 )edit

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Asked: 2017-05-16 18:21:25 -0600

Seen: 2,585 times

Last updated: May 21 '17