2b-t / myactuator_rmd_ros

ROS 2 integration for MyActuator RMD-X series actuators

MyActuator RMD X-series ROS 2

Author: Tobit Flatscher (2024)

Overview

This repository holds the URDF models and ros2_control integration for the MyActuator RMD-X actuator series. The CAD models for the URDF models were obtained from the offical MyActuator RMD web page. The hardware interface is based on the C++ driver that I have written for these actuators.

You will need to clone both of the repositories to your ROS 2 workspace (e.g. ~/colcon_ws/src):

$ git clone https://github.com/2b-t/myactuator_rmd.git
$ git clone https://github.com/2b-t/myactuator_rmd_ros.git

The first contains the C++ library as well as the Python bindings, the second the ros2_control integration and CAD models. Install the package dependencies with $ rosdep install --from-paths src/ --ignore-src -r -y (potentially you also have to follow these instructions for installing the C++ library's dependencies) and proceed to build your workspace with $ colcon build --symlink-install.

For more information regarding the individual packages inside this repository please refer to their corresponding individual read-mes.