ROS 2 Interface Overview

Structure

The core structure of the Interbotix ROS 2 Interface is made up of three key components:

• The ROBOTIS DYNAMIXEL Workbench Toolbox packages - Provides easy-to-use interfaces and definitions to control DYNAMIXEL servos.
• The Interbotix X-Series Driver - The Interbotix X-Series Driver wraps the DYNAMIXEL Workbench Toolbox to provide low-level interfaces to easily control the DYNAMIXEL servos on any Interbotix X-Series Robot.
• The Interbotix X-Series Messages package - Defines messages, services, and actions to be used in other X-Series projects.
• The Interbotix X-Series SDK package - Wraps the X-Series Driver, exposing methods of control via topics and services.

Table of Contents

• DYNAMIXEL Workbench Toolbox
• interbotix_xs_driver
• interbotix_xs_msgs
• interbotix_xs_sdk