MyActuator ROS 2 Control

This project provides a ROS 2 driver for the MyActuator RMD X-series servo motors, utilizing the SDK from 2b-t/myactuator_rmd.

Project Structure

• myactuator_bringup: Launch files for ROS 2 nodes.
• myactuator_description: URDF files for robot description.
• myactuator_hardware_interface: Hardware interface implementation.

Prerequisites

• ROS 2 (Humble Hawksbill or later)
• Python 3.6+
• Build tools (CMake)
• MyActuator RMD SDK dependencies:

  sudo apt-get install -y build-essential cmake can-utils iproute2 linux-modules-extra-$(uname -r)
  sudo apt-get install -y python3 python3-pip python3-pybind11

Installation

1. Create a ROS 2 workspace and navigate into it:

   mkdir -p ~/ros2_ws/src/myactuator
   cd ~/ros2_ws/src/myactuator

2. Clone the repository into the workspace:

   git clone https://github.com/ioio2995/myactuator_ros2_control.git
   git clone https://github.com/2b-t/myactuator_rmd.git
   cd ../..

3. Install ROS 2 dependencies:

   sudo apt update
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y

4. Install Python dependencies:

   cd src/myactuator_ros2_control
   pip install -r requirements.txt
   cd ../..

5. Build the workspace:

   colcon build

6. Source the setup script:

   source install/setup.bash

Usage

To launch the system:

ros2 launch myactuator_bringup bringup.launch.py

License and Attribution

This project is licensed under the MIT License. See the LICENSE file for details.

Contribution

Contributions are welcome. Please submit pull requests and open issues for suggestions or bugs.