[ros-users] [Discourse.ros.org] [MoveIt!] Developing a MoveIt compatible driver for Hekulex Servos

Pete Blacker via Discourse.ros.org ros.discourse at gmail.com
Sat Feb 16 14:01:55 UTC 2019

I've been developing a ROS driver for the Hekulex family of smart servos over the last couple of months. We are building a simple arm using these servos and we'll be controlling it using MoveIt. The standard interfaces I have or am in the process of adding are the joint_state topic and trajectory action server. 
This is the minimum required to be able to control the hardware but I wanted to know what other interfaces would be worth implementing? For example what is the velocity control interface used by the Jog Arm package? 

I also wanted to ask at what level of development should I add this package to the wiki and buildfarm? It's available now on my GitHub and I'd like to get some feedback from more experienced robot driver developers.

[Visit Topic](https://discourse.ros.org/t/developing-a-moveit-compatible-driver-for-hekulex-servos/7876/1) or reply to this email to respond.

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