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dynamixel_hardware_interface

  • Software
  • Robot arms and industry
  • Driver or SDK

A ROS 2 package providing a ros2_control hardware interface for driving Dynamixel servo motors, plus the dynamixel_interfaces package with its custom messages.

Made by ROBOTIS, South Korea (checked on github.com/ROBOTIS-GIT (opens in a new tab)).

Source on GitHub: github.com/ROBOTIS-GIT/dynamixel_hardware_interface (opens in a new tab). Facts read at commit 6bb5f93 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 6bb5f93 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Plugs Dynamixel motors into the ros2_control framework as a hardware interface.
  • Configured through ros2_control XML: serial port name, baud rate and communication error timeout.
  • Joints expose position command interfaces and position, velocity and effort state interfaces.
  • GPIO tags define each motor by name and ID, with command and state interfaces and parameters such as PID gains and drive mode.
  • Uses control table model files such as xm430_w350.model to map motor settings to memory addresses.
  • Provides services to get and set motor data, reboot motors and enable or disable torque, and a topic publishing the motor state.

Written by Robotheca from the project's README (opens in a new tab) at commit 6bb5f93.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Dynamixel servos, a USB2 Dynamixel or U2D2 adapter, and a proper power supply for the Dynamixel motors.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
12 Mar 2026 on main
Latest release
1.5.2 (13 Mar 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.