This packages supports the entire AMT21 product series using RS485.
This package works with ros2_control via remote_hardware_interface.
This package implements the generic encoder interface.
$ ros2 service list
...
/openvmp/robot_EE3U/encoder/front_body_joint/get_position
/openvmp/robot_EE3U/encoder/front_body_joint/get_velocity
...