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Overview | Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos. | The Interbotix Serial Firmware allows users to control the turret through the use of serial over USB. | The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. |
Operating System |
Linux | Windows / MacOS / Linux | Windows / MacOS / Linux |
Languages | C++, Python, or any other ROS compatable languages | Any language which can communicate via serial over USB | C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS. |
Controller | DYNAMIXEL U2D2 | OpenCM9.04c | DYNAMIXEL U2D2 |
Demos | Examples include:
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A Windows Demo is provided allowing for control of any standard X-Series Turret. Tools are provided for users to become familiar with the Interbotix Serial Protocol | Robotis provides sample code in many languages for users to get started |
ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the XL430 Turret. Packages include full meshes and URDFs (including accurate inertial models for the links), driver node that controls the physical robot and publishes joint states as well as gazebo and moveit support. Examples are also included to show users how the core packages work.
Protocol | TTL |
Payload | 500g |
Resolution | 4096 |
Weight | 475g |
The base comes with mounting thumb screws to secure the turret easily to most any surface, wood screws are also an option for a more permanent mounting solution.