This repository collects example packages and resources for working with Dynamixel hardware using the ros2_control framework.

This repository is intended to help users get started with Dynamixel hardware integration in ROS 2. It provides example configurations, launch files, and scripts to demonstrate how to use the dynamixel_hardware_interface with ros2_control and controller_manager.

• dynamixel_hardware_interface_example
  • Example package with configuration files, launch files, and scripts for setting up and running a Dynamixel-based robot system using ros2_control.

• For the recommended Docker environment:
  • Docker Engine installed
  • Dynamixel hardware (e.g., motors, U2D2, etc.)
• For local installation (alternative):
  • ROS 2 (Jazzy or later recommended)
  • Dynamixel hardware (e.g., motors, U2D2, etc.)

A ready-to-use Docker environment is provided in the docker/ directory. This setup allows you to build and run the workspace in a containerized ROS 2 environment, making it easy to get started without installing dependencies directly on your system.

Recommended: Use the Docker environment for the most consistent and reproducible setup.

From the root of the repository, use the provided script to build and run the container:

./docker/container.sh <command>

• help : Show usage instructions.
• start :
  • Sets up X11 forwarding for GUI applications (if DISPLAY is set).
  • Copies the 99-u2d2.rules file for U2D2 device permissions to /etc/udev/rules.d/ (requires sudo).
  • Reloads udev rules.
  • Pulls the latest Docker images and starts the container using docker compose.
• enter :
  • Opens an interactive bash shell inside the running container (with X11 forwarding if available).
• stop :
  • Prompts for confirmation, then stops and removes the running container using docker compose down.

./docker/container.sh start   # Start the container
./docker/container.sh enter   # Enter the running container
./docker/container.sh stop    # Stop and remove the container
./docker/container.sh help    # Show help message

Notes:

• X11 forwarding is set up for GUI applications if the DISPLAY variable is set.
• Sudo privileges are required to copy udev rules for U2D2 device support.
• For advanced options and more details, see comments in docker/container.sh.

If you prefer not to use Docker, you can install and build the workspace locally:

cd <your_ros2_ws>/src
git clone https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface_demos.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash