This repository contains a Gazebo plugin that allows simulating a chain of Dynamixel motors connected together to the same serial bus (daisy chain).

It provides the same interface as the real one, i.e. a pty port connection you can connect to, and it emulates completely the Dynamixel Protocol 2.0.

Beware that not all the functionalities have been implemented yet.

For more details, please have a look at the Wiki section

This project will soon be available as a package within the robotpkg project.
Please, visit the News section to know when this will happen.

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