---
title: "cybergear_m5_ros2"
url: "https://maker.wiznet.io/irina/projects/cybergear-m5-ros2/"
markdown_url: "https://maker.wiznet.io/irina/projects/cybergear-m5-ros2/md"
type: "UCC: User Created Content"
author: "project-sternbergia"
author_url: "https://github.com/project-sternbergia/cybergear_m5_ros2"
editor: "WIZnet"
editor_url: "https://maker.wiznet.io/"
original_author: "project-sternbergia"
original_url: "https://github.com/project-sternbergia/cybergear_m5_ros2"
published: "2025-12-10"
language: "en"
likes: 0
views: 261
comments: 0
source: "WIZnet Makers (https://maker.wiznet.io/)"
---

# cybergear_m5_ros2

> cybergear_m5_ros2

Original author: project-sternbergia (source: https://github.com/project-sternbergia/cybergear_m5_ros2)

## Article

## 👤Author

**Project Sternbergia Team**
A robotics-focused engineering group developing ROS2-based control systems, embedded motion modules, and cross-platform teleoperation tools.
They explore real-time feedback, multi-sensor integration, and advanced actuator protocols with low-cost hardware like M5Stack and ESP32.

🔗 GitHub: <https://github.com/project-sternbergia/cybergear_m5_ros2>
🔗 ROS2 Project Page: <https://github.com/project-sternbergia>

---

## 🎯PROJECT DESCRIPTION

This project demonstrates a **ROS2-compatible controller** for **T-Motor CyberGear smart actuators** using the **M5Stack (ESP32)** platform.
The goal is to provide a **portable, wireless, and low-cost ROS2 teleoperation interface** that can:

publish actuator commands

receive real-time feedback

visualize motor state

act as a standalone testing tool or integrated ROS2 node

It closely follows the architecture of the "CyberGear ROS2 Controller" but replaces the Python + USB interface with an **embedded ESP32 Wi-Fi bridge**.

---

## 🧩COMPONENTS

#### 🧠 Main Hardware

- **M5Stack Core / Core2 (ESP32 기반)**

- **T-Motor CyberGear Actuator** (RS485 / CAN variants)

- **UART → CyberGear interface board or TTL adaptor**

#### 🔌 Communication

- Wi-Fi (ROS2 micro-ROS or custom UDP bridge)

- UART serial protocol to CyberGear actuator

- ROS2 topics for command & feedback

#### 💻 Software

- micro-ROS or custom ROS2 bridge firmware

- M5Stack UIFlow or Arduino-ESP32

- CyberGear actuator command library

- PC-side ROS2 Humble/Foxy workspace

### 🛠SYSTEM OVERVIEW

```css
[M5Stack (ESP32)]
   |  CyberGear serial protocol
   ↓
[T-Motor CyberGear Actuator]
   ↑
   |  Wi-Fi (ROS2 or UDP bridge)
[ROS2 PC (Humble/Foxy)]
   ↑
   |  Teleop UI / RViz / Node Graph
[User]
```

## 🔧KEY FEATURES

#### ✔ 1. ROS2-Compatible Wireless Control

The ESP32 publishes and subscribes to ROS2 topics using micro-ROS or a UDP translator:

```plaintext
/cybergear/command
/cybergear/feedback
```

Commands include:

- target position

- velocity

- torque

- mode switching (position/velocity/torque)

#### ✔ 2. Real-Time Telemetry

The actuator returns:

- position

- velocity

- torque

- temperature

- error flags

M5Stack visualizes these values on its built-in LCD.

#### ✔ 3. Portable Embedded Controller

Unlike USB-based CyberGear controllers, this device:

- works wirelessly

- can be battery-powered

- acts as both a tester and a ROS2 node

- can control multiple CyberGear actuators with minor firmware changes

#### ✔ 4. ROS2 Integration & Visualization

On the ROS2 PC, users can:

- monitor live feedback in RViz

- use joystick or keyboard teleop

- chain multiple CyberGear actuators

- integrate into mobile robots or joint test rigs

![cybergear_ros2_bridge_example](https://github.com/project-sternbergia/cybergear_m5_ros2/raw/main/docs/img/cybergear_ros2_bridge_sample.gif)

---

#### 🧠 ENGINEERING INSIGHTS

#### ✔ Lightweight ROS2 Node on ESP32

By offloading actuator control to ESP32, the PC only handles high-level ROS2 logic.
This reduces USB latency and simplifies wiring.

#### ✔ Deterministic CyberGear Serial Commands

The firmware ensures that:

- serial timing

- checksum logic

- actuator state machine

match CyberGear specifications.

#### ✔ M5Stack as a Visualization Device

The LCD UI allows:

- torque graph

- velocity meter

- mode switch buttons

- temperature warnings

A powerful front-end without a PC.

#### ✔ Extensible Architecture

The modular design makes it easy to extend:

- CAN Bus support

- multi-actuator arrays

- BLE joystick teleop

rover/manipulator integrations

---

## 📘REFERENCE LINKS

- Project GitHub: <https://github.com/project-sternbergia/cybergear_m5_ros2>

- CyberGear Specs: https://store.t-motor.com/goods.php?id=1225

- micro-ROS: <https://micro.ros.org/>

- Original Related Project (Benjamin):
  [https://maker.wiznet.io/Benjamin/projects/cybergear%2Dros2%2Dcontroller](https://maker.wiznet.io/Benjamin/projects/cybergear%2Dros2%2Dcontroller/)

---

Source: https://maker.wiznet.io/irina/projects/cybergear-m5-ros2/