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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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Project administrator: Amr Afifi, Anthony Mallet, Antonio Enrique Jimenez Cano, Antonio Franchi, Dario Sanalitro, Davide Bicego, Gianluca Corsini, Mahmoud Hamandi, Marco Cognetti, Marco Tognon, Martin Jacquet, Quentin Sable, Youssef Aboudorra

Developer: Alessia Fusco, Amr Afifi, Antonio Enrique Jimenez Cano, Antonio Gonzalez Morgado, Ayham Alharbat, Baljinder Singh Bal, Barbara Barros Carlos, Bastiaan Bekooij, Chiara Gabellieri, Colomban Le Falher, Dario Sanalitro, Emanuele Buzzurro, Félix Ingrand, Gabriele Nava, Gayatri Indukumar, Gianluca Corsini, Giuseppe Silano, Hai Nguyen Nguyen, Harold Fabian Murcia Moreno, Heitor Judiss Savino, Hemjyoti Das, Hussein Abdelrahman, Idriss Chelikh, Jonas Soueidan, José Otavio Brochado Colombini, Jérôme Truc, Leonardo Mouta Pereira Pinheiro, Liam Mohan, Lucas Angles, lucas LAURENT, Marco Cognetti, mark van Holland, Matthieu Perissinotto, mattia piras, Maxime Lemerle, Miguel Alonso, Pascal Brault, Pierre Perraud, Quentin Sable, Ramy Rashad, Ran Jiao, Santiago Sanchez-Escalonilla Plaza, Selvakumar Hastham Sathiya Satchi Sadanandam, Sihao Sun, Simon Lacroix, Simon Wasiela, Teiva Bissonnier , Vamshi Kodipaka, Vijayan Vignesh Balaji, Yaolei Shen, Youssef Aboudorra

Reporter: Alessia Fusco, Antonio Gonzalez Morgado, Charles Dutau, Emanuele Buzzurro, Hai Nguyen Nguyen, Jonas Soueidan, José Otavio Brochado Colombini, Lorenzo Balandi, Marco Cognetti, Massimiliano Bertoni, mattia piras, Nicola De Carli, Pierre Perraud, Ralph Brantjes, Riccardo Belletti, Riccardo Fuser, Simon Wasiela, Yaolei Shen