MyActuator RMD X-series Bring-up

Author: Tobit Flatscher (2024)

Overview

This package contains the ROS 2 bring-up and configuration files for the MyActuator RMD X-series actuators.

For launching the actuator in simulation with ros2_control simply launch the following launch file specifying the actuator:

$ ros2 launch myactuator_rmd_bringup myactuator_rmd_control.launch.py actuator:=X8ProV2 simulation:=true

Additionally to RViz and Gazebo this should open up a GUI for the controller manager as well as another GUI for the joint trajectory controller. In the latter you can activate the joint_trajectory_controller and move the actuator with it.

Alternatively you can switch to the effort, position or velocity controller with the controller manager GUI and publish set-points either to the /effort_controller/commands, /position_controller/commands or /velocity_controller/commands topic with:

$ ros2 topic pub /effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.5]}"