Ar-Ray-code / feetech_scs_ros2_driver

ROS2 Driver for FeeTech-SCS

feetech_scs_ros2_driver

ROS2 Driver for FeeTech-SCS

Hardware Interface : TODO

Support 📜⚙️

ROS2 Distro 🐢

ROS2 Distro	Support
Humble	✔️

FeeTech-SCS ⚙️

https://pages.switch-science.com/comparison/feetech-servos#serial

Product Name	Support
SCS0009	✔️
SCS215
SCS115
SCS20-360T
SCS15

FeeTech-STS

Product Name	Support
STS3032

Installation

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/HarvestX/h6x_serial_interface.git -b humble
git clone https://github.com/Ar-Ray-code/feetech_scs_ros2_driver -b main
cd ../

colcon build

Usage (Example)

Run ros2 run <target_exec> <ID> <port> <baudrate> to execute the example.

Write Position

ros2 run feetech_scs_example write_pos 1 /dev/ttyUSB0 1000000

Read position

ros2 run feetech_scs_example read_pos 1 /dev/ttyUSB0 1000000

Write speed

ros2 run feetech_scs_example write_spd 1 /dev/ttyUSB0 1000000

Read pwm

ros2 run feetech_scs_example read_spd 1 /dev/ttyUSB0 1000000