I'm currently in the process of building a revolute robot arm powered by Herkulex servos and I wanted to check with the community to see if anyone else already has a ROS driver node for these servos.
I've found this [repo on github](https://github.com/lukaszmitka/herkulex_servo_controller/tree/master/src) by user lukaszmitka which provides some basic functionality. There is also an empty wiki [page here](http://wiki.ros.org/herkulex). But so far I've not found anything else ROS related out there.
At the moment I'm planning to extend lukaszmitka's work to create a ROS node to interface with an arbitrary length chain of servos which provides the joint_state topic and joint_trajectory action server required by MoveIt. Before I get started I wanted to check if anyone know of any existing work in this area I haven't found so I don't re-invent the wheel.
Thanks.
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