- Positions of up to 4069
- Payload capacity of 500g
- Support for Robot Operating System (ROS)
- Ability to define Proportional Integral Derivative (PID) parameters
The PhantomX XL430 Robot Turret is a fully programmable pan and tilt system designed around the DYNAMIXEL XL430 W250 T servos from Robotis. It offers a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback, voltage levels, load, and compliance settings are all user accessible. The PhantomX XL430 Turret comes with the DYNAMIXEL U2D2 for ROS control and the CM9.04c for Serial Firmware control.
ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy for users to get started with the XL430 Turret. These packages include full meshes and URDFs (including accurate inertial models for the links), a driver node that controls the physical robot and publishes joint states, as well as gazebo and moveit support. Examples are also included to demonstrate how the core packages work.
