Dynamixel

Dynamixel (Dynamic + Cell) is a high-performance, all-in-one actuator designed for multi-jointed robot configurations.

1. Dynamixel is versatile. The actuators have been used in a wide variety of applications, from humanoid robots to manipulators.

2. Dynamixel is integrated. Each Dynamixel unit features DC motor, controller, driver, sensor, reduction gear, and network integrated into one module.

3. Dynamixel is modular, expandable, and reconfigurable. The actuators can be used for any system to fit the user's needs and the system can be easily modified.

4. Dynamixels are driven by digital packet communication. The main communication protocol is half-duplex UART (8-bit, no parity, 1 stop). It supports TTL, RS485, or CAN networks. Dynamixel communicates with the main controller by sending and receiving packets of data on a bus.

5. Dynamixels can be daisy chained. Multiple Dynamixels can be wired together, allowing for easy system expansion.

6. Each Dynamixel contains a Control Table consisting of data (registers) that are readable and writable. Readable registers can provide feedback regarding the status of Dynamixel, including information regarding internal temperature, position, speed, torque, voltage, etc. By enabling the Alarm Shutdown and Alarm LED registers, Dynamixel can protect itself against overheating, overload, etc.

7. Dynamixels are energy efficient and stable. They are powered by high voltage and consume low current.

The dynamixel_sdk is a ROS wrapper for the ROBOTIS Dynamixel SDK. The ROBOTIS Dynamixel SDK is a software development library that provides Dynamixel control functions for packet communication. The 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. The API is designed for Dynamixel actuators and Dynamixel-based platforms like TurtleBot3, OpenManipulator, ROBOTIS OP3, THORMANG3, MANIPULATOR-H, RH_P12_RN.

Dynamixel

• dynamixel

Dynamixel SDK

• dynamixel_sdk

Dynamixel Workbench

• dynamixel_workbench (metapackage)

  • dynamixel_workbench_controllers

  • dynamixel_workbench_operators

  • dynamixel_workbench_single_manager

  • dynamixel_workbench_single_manager_gui

  • dynamixel_workbench_toolbox

• dynamixel_workbench_msgs

TurtleBot3

• turtlebot3 (metapackage)

  • turtlebot3_bringup

  • turtlebot3_description

  • turtlebot3_example

  • turtlebot3_navigation

  • turtlebot3_slam

  • turtlebot3_teleop

• turtlebot3_msgs

• turtlebot3_simulations (metapackage)

  • turtlebot3_fake

  • turtlebot3_gazebo_ros

• turtlebot3_applications (metapackage)

  • turtlebot3_automatic_parking

  • turtlebot3_automatic_parking_vision

  • turtlebot3_follow_filter

  • turtlebot3_follower

  • turtlebot3_panorama

• turtlebot3_applications_msgs

• turtlebot3_autorace (metapackage)

  • turtlebot3_autorace_camera

  • turtlebot3_autorace_control

  • turtlebot3_autorace_core

  • turtlebot3_autorace_detect

• turtlebot3_deliver (metapackage)

  • turtlebot3_deliver_service

• hls_lfcd_lds_driver

OpenManipulator

• open_manipulator (metapackage)

  • open_manipulator_control_gui

  • open_manipulator_controller

  • open_manipulator_description

  • open_manipulator_libs

  • open_manipulator_moveit

  • open_manipulator_teleop

• open_manipulator_perceptions (metapackage)

  • open_manipulator_ar_markers

• open_manipulator_simulations (metapackage)

  • open_manipulator_gazebo

• open_manipulator_msgs

OpenManipulator with TB3

• open_manipulator_with_tb3 (metapackage)

  • open_manipulator_with_tb3_description

  • open_manipulator_with_tb3_tools

  • open_manipulator_with_tb3_waffle_moveit

  • open_manipulator_with_tb3_waffle_pi_moveit

• open_manipulator_with_tb3_simulations (metapackage)

  • open_manipulator_with_tb3_gazebo

• open_manipulator_with_tb3_msgs

ROBOTIS Framework

• robotis_framework (metapackage)

  • robotis_controller

  • robotis_device

  • robotis_framework_common

• robotis_controller_msgs

ROBOTIS OP3

• robotis_op3 (metapackage)

  • cm_740_module

  • op3_action_module

  • op3_balance_control

  • op3_base_module

  • op3_direct_control_module

  • op3_head_control_module

  • op3_kinematics_dynamics

  • op3_localization

  • op3_manager

  • op3_online_walking_module

  • op3_walking_module

  • open_cr_module

• robotis_op3_msgs (metapackage)

  • op3_action_module_msgs

  • op3_offset_tuner_msgs

  • op3_online_walking_module_msgs

  • op3_walking_module_msgs

• robotis_op3_common (metapackage)

  • op3_description

  • op3_gazebo

• robotis_op3_tools (metapackage)

  • op3_action_editor

  • op3_camera_setting_tool

  • op3_gui_demo

  • op3_navigation

  • op3_offset_tuner_client

  • op3_offset_tuner_server

  • op3_web_setting_tool

• robotis_op3_demo (metapackage)

  • op3_ball_detector

  • op3_demo

THORMANG3

• thormang3_common (metapackage)

  • thormang3_description

  • thormang3_gazebo

• thormang3_msgs (metapackage)

  • thormang3_action_module_msgs

  • thormang3_feet_ft_module_msgs

  • thormang3_head_control_module_msgs

  • thormang3_manipulation_module_msgs

  • thormang3_offset_tuner_msgs

  • thormang3_walking_module_msgs

• thormang3_mpc (metapackage)

  • ati_ft_sensor

  • motion_module_tutorial

  • sensor_module_tutorial

  • thormang3_action_module

  • thormang3_balance_control

  • thormang3_base_module

  • thormang3_feet_ft_module

  • thormang3_gripper_module

  • thormang3_head_control_module

  • thormang3_kinematics_dynamics

  • thormang3_manager

  • thormang3_manipulation_module

  • thormang3_walking_module

• thormang3_mpc_sensors (metapackage)

  • thormang3_imu_3dm_gx4

• thormang3_ppc (metapackage)

  • thormang3_sensors

  • thormang3_manipulation_demo

  • thormang3_walking_demo

• thormang3_opc (metapackage)

  • thormang3_action_script_player

• thormang3_demo (metapackage)

  • thormang3_foot_step_generator

  • thormang3_navigation

  • thormang3_offset_tuner_client

• thormang3_tools (metapackage)

  • thormang3_action_editor

  • thormang3_offset_tuner_server

MANIPULATOR-H

• manipulator_h (metapackage)

  • manipulator_h_base_module

  • manipulator_h_base_module_msgs

  • manipulator_h_bringup

  • manipulator_h_description

  • manipulator_h_gazebo

  • manipulator_h_gui

  • manipulator_h_kinematics_dynamics

  • manipulator_h_manager

RH-P12-RN

• rh_p12_rn (metapackage)

  • rh_p12_rn_base_module

  • rh_p12_rn_base_module_msgs

  • rh_p12_rn_description

  • rh_p12_rn_gazebo

  • rh_p12_rn_gui

  • rh_p12_rn_manager

Other

• robotis_math

• robotis_utility (metapackage)

  • ros_madplay_player

  • ros_mpg321_player

• opencr