Important

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots

This package provides an hardware interface for the Dynamixel servos in ros control.

For more information have a look in the documentation on doku.bit-bots.de or in the doc folder.

Important

You will have to use our forked versions of dynamxiel_workbench and DynamixelSDK which provide functions for reading multiple register values in a single syncRead. They can be found here:

https://github.com/bit-bots/DynamixelSDK

https://github.com/bit-bots/dynamixel-workbench

Set your linux usb bus latency timer to 1 or 0 !!!! see comment here

https://github.com/bit-bots/DynamixelSDK/blob/master/c%2B%2B/src/dynamixel_sdk/port_handler_linux.cpp

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	imu_complementary_filter
	rviz_imu_plugin
	backward_ros
	bitbots_buttons
	bitbots_diagnostic
	bitbots_docs
	bitbots_msgs
	bitbots_robot_description
	bitbots_utils
	controller_interface
	controller_manager
	dynamixel_workbench_toolbox
	hardware_interface
	bitbots_tts
	pluginlib
	rclcpp
	std_msgs
	system_monitor
	transmission_interface

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/pressure_converter.launch
launch/ros_control.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - tts [default: true]
launch/ros_control_standalone.launch
- - sim [default: false]
  - torqueless_mode [default: false]
  - only_imu [default: false]
  - only_pressure [default: false]
  - robot_type [default: wolfgang]
launch/viz_imu.launch
launch/viz_pressure.launch
- - only_pressure [default: true]
launch/viz_servos.launch

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `bitbots_ros_control` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

bitbots_ros_control package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_buttons bitbots_ros_control bitbots_basler_camera bitbots_bringup bitbots_ceiling_cam bitbots_diagnostic bitbots_docs bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_dynamic_kick bitbots_dynup bitbots_hcm bitbots_head_mover bitbots_moveit_bindings bitbots_quintic_walk bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning wolfgang_animations wolfgang_description wolfgang_moveit_config bitbots_pybullet_sim bitbots_robocup_api bitbots_webots_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	2.2.4
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	This git contains all RoboCup code from the Hamburg Bit-Bots.
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-21
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics robocup ros2 robocup-humanoid-league
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Hardware interface based the "dynamixel_workbench_ros_control" by Martin Oehler. It uses a modified version of the dynamixel_workbench to provide a higher update rate on the servo bus by using sync reads of multiple values.

Additional Links

No additional links.

Maintainers

Marc Bestmann
Hamburg Bit-Bots

Authors

Martin Oehler
Marc Bestmann
Hamburg Bit-Bots