Using Herkulex Smart Servos with ROS and MoveIt

asked 2018-12-15 05:36:11 -0600

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I'm currently in the process of building a revolute robot arm powered by Herkulex servos and I wanted to check with the community to see if anyone else already has a ROS driver node for these servos.

I've found this repo on github by user lukaszmitka which provides some basic functionality. There is also an empty wiki page here. But so far I've not found anything else ROS related out there.

At the moment I'm planning to extend lukaszmitka's work to create a ROS node to interface with an arbitrary length chain of servos which provides the joint_state topic and joint_trajectory action server required by MoveIt. Before I get started I wanted to check if anyone know of any existing work in this area I haven't found so I don't re-invent the wheel.

Thanks.

answered 2020-01-09 13:57:17 -0600

wookbinJin
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Hey,

I'm making HerkuleX's ROS package lately.

I plan to add I_JOG and S_JOG soon.

I'm currently testing the addition of these two JOG modes.

https://github.com/wookbin

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Hi @wookbinJin good work. I also built a functioning Herkulex package about a year ago after I found one didn't exist [] Feel free to have a look and use any parts you want. I was advised to build a Herkulex interface to the standard ros control system so that they could be used with many existing package such as moveit and the diff_drive_controller. Have you considered adding that interface.

PeteBlackerThe3rd ( 2020-01-09 15:11:11 -0600 )edit

No, not yet

I've been to ROS for five months now, so I'm trying to make those things.

We'll continue to add work as we create platforms like Robotics' TURTLEBOT3 and OpenMANIPULATOR.

I'll put it on my github when it's done.

wookbinJin ( 2020-01-09 18:23:05 -0600 )edit

Hey,

I prepared 2 examples.

1) Pan/Tilt using 2 HerkuleX. In addition, we have prepared face tracking in conjunction with the face tracking package.

2) Robot arm was prepared using 7 HerkuleX (6DOF Arm + 1 Gripper) and ROS Moveit.

Please use the example once and point out the lack. ^^;

--> https://github.com/wookbin/HerkuleX-R...

wookbinJin ( 2020-03-15 21:57:47 -0600 )edit

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