Till now, we have learned about MoveIt! interfacing using Gazebo simulation. In this section, we will see how to replace Gazebo and put a real robot interface to MoveIt!. Let's discuss the DYNAMIXEL servos and the ROS controllers.
Understanding DYNAMIXEL ROS Servo controllers for robot hardware interfacing
The DYNAMIXEL servos
The DYNAMIXEL servos are smart, high-performance networked actuators for high-end robotics applications. These servos are manufactured by a Korean company called ROBOTIS (http://en.robotis.com/). These servos are very popular among robotics enthusiasts because they can provide excellent position and torque control, and also provide a variety of feedback, such as position, speed, temperature, voltage...
