I want to try ROS on Raspberry Pi and OpenRB-150 to control xl430-w250-t dxl. What would be the optimal setup including Raspberry Pi, OpenRB-150, xl430-w250-t (12V), and battery power source, so that I could use ROS node to control DXL? Do you know any book related to this?
Khoi
ROBOTIS has a free book on ROS, but it is dated.
ROS Robot Programming Book (Digital Copy) - ROBOTIS
But the Open Source Team recently has prepared lots of updates elsewhere in this Forum.
They also have their own YouTube channel at
DYNAMIXEL Quick Start Guide for ROS 2
If you plan to use RPi on ROS, there is no need to use the OpenRB-150, you just need to buy a U2D2 module and program your actuators directly from the RPi via the U2D2 and Dynamixel SDK (ROS version).
That means I have to buy both U2D2 and U2D2 power hub board. Is this option is more expensive than Open RB-150. Furthermore, is it possible to supply power source to Raspberry Pi 5 via U2D2 power hub board. I will use battery power source.
Khoi
If you’re planning on using ROS2, the U2D2 and Power Hub Board would be a better solution to start with, as the U2D2 is capable of higher baud rate communication than the OpenRB. You can also directly connect a battery to the terminal block for the Power Hub Board to power your servos.
I forgot but you can use that special sketch on the OpenRB-150 to make it behave like a U2D2 but at 1 Mbps max. Which should be fine for your XL-430.
Another point on the RPi 5, mine was very finicky about the actual PS it wants to connect to (5 V and 5 A). Better plan to have separate PS for RPi 5 and the 150 + XL-430s