botamochi6277 / Feetech-microros

Seeeduino XIAO control feetech ttl servo motors with micro-ROS interface.

Feetech microros

Seeeduino XIAO control feetech ttl servo motors with micro-ROS interface. The XIAO communicates with STS3215 using FE-URT-1, interface board. And the XIAO subscribes feetech_state topic as sensor_msg/JointState message.

Build and Upload

1-Clone this repository:

git clone  https://github.com/botamochi6277/Feetech-Sweep.git

2-Install SCServo library

./download_scservo.sh

3-Build with PlatformIO

Connection

CAUTION: FE-URT-1 would have wrong silk annotations about RXD and TXD.

ROS2		XIAO		FE-URT-1
USB	--	USB
		5V	--	5V
		GND	--	GND
		D6 (RX)	--	RXD (Silk)
		D7 (TX)	--	TXD (Silk)

Communication

ros2, run agent :

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -v6

ros2, publish command example:

ros2 topic pub feetech_state sensor_msgs/msg/JointState '{name:["joint_1","joint_2"], position:[0.75,0.75]}' --once