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bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-04-10
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

bitbots_lowlevel/bitbots_ros_control/README.md

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	realtime_tools
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/viz_pressure.launch
- - only_pressure [default: true]
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/pressure_converter.launch
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_servos.launch
launch/viz_imu.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

API Docs Browse Code

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