interbotix_xs_driver

Overview

The Interbotix X-Series Driver provides low-level interfaces to easily control the DYNAMIXEL servos on any Interbotix X-Series Robot.

Usage

The X-Series Driver is compiled as a library and can be used in any C++ project by simply including its headers and linking against it.

#include "interbotix_xs_driver/xs_logging.hpp"  // Logging macros and utils
#include "interbotix_xs_driver/xs_common.hpp"   // Common variables and types
#include "interbotix_xs_driver/xs_driver.hpp"   // The InterbotixDriverXS class

find_package(interbotix_xs_driver REQUIRED)
add_executable(your_executable)
ament_target_dependencies(your_executable interbotix_xs_driver ...)

Then create an InterbotixDriverXS object, providing the following in the order stated:

Absolute filepath to the motor configs file
Absolute filepath to the mode configs file
A boolean indicating whether the Driver should write to the EEPROM on startup
A string indicating the driver’s logging level containing one of the following: “DEBUG”, “INFO”, “WARN”, “ERROR”, “FATAL”

This initialization would look something like below:

std::unique_ptr<InterbotixDriverXS> xs_driver = std::make_unique<InterbotixDriverXS>(
    filepath_motor_configs,
    filepath_mode_configs,
    write_eeprom_on_startup,
    logging_level);

See the package’s source code for more details.