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Bus Servo SDK User Manual (ROS2)

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1. Test Environment

No LSB modules are available.

Distributor ID: Ubuntu

Description: Ubuntu 22.04.5 LTS

Release: 22.04

Codename: jammy

ROS2: humble

2. Install Dependencies

  1. Install the ROS2 humble environment yourself.

  2. Install the Python SDK.

pip install fashionstar-uart-sdk


pip install pyserial

3. Run the servo_driver Node

Enter the ROS2 folder:

colcon build

source install/setup.sh

Then run the driver node.

ros2 run servo_driver driver

4. Configure Node Functions

Enter the ROS2/src/servo_driver folder and open servo_driver.py. Modify the code as needed. After modifying the code, run the node again.

4.1 Modify the Serial Port Port and Baud Rate

#修改串口接口
SERVO_PORT_NAME = "/dev/ttyUSB0"  
#修改波特率 
SERVO_BAUDRATE = 115200

4.2 Read Angle

By default, the example runs the angle read example. It continuously reads and publishes servo_angle_topic at 10 Hz.

The configurable parameters for servo reading are as follows.

#读取的id列表，默认情况下，舵机出厂设置为0号，可通过上位机设置其他id号。
ID_list = [0]               #SERVO id
#修改好id（0，1，2）后，作如下修改可以读取其他id舵机的角度。
ID_list = [0,1，2]          #SERVO id

4.3 Set Angle

By setting parameters, you can modify the operating angle and time interval of the servo.

#单个舵机时
ID_list = [0]                       #SERVO id
ANGLE_list=[50.0]                   # degree
INTERVAL_list = [1000]              # ms
self.control_servo()                #send target angle
#多个舵机时
ID_list = [0,1]
ANGLE_list=[50.0,70.0]
INTERVAL_list = [1000,2000]

5. Other Servo Functions

For the complete functions and protocol of the servo, refer to this document.

bus servo Communication Protocol - Fashion Star Wiki

Reference: https://wiki.fashionrobo.com/uartbasic/uart-protocol/

5.1 How to Use

You can freely use the interfaces provided by the Python SDK in ROS2 nodes.

bus servo SDK User Manual (Python) - Fashion Star Wiki

Reference: https://wiki.fashionrobo.com/uart-python-sdk/python/

For example, to use the ping command:

#ping 0 号舵机
self.control.ping(0)

Or use damping mode:

#设置0号舵机进入阻尼模式，功率1000
self.contrl.set_damping(0,1000)

For more functions, refer to:

bus servo SDK User Manual (Python) - Fashion Star Wiki

Reference: https://wiki.fashionrobo.com/uart-python-sdk/python/