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Dynamixel Gazebo plugin

It is a Gazebo plugin that emulates a series of Dynamixel motors connected over the same bus (daisy-chain connection), as depicted in the following figure.

Dynamixel motors connected in a daisy chain

Source: http://www.generationrobots.com.

It is based on the library libdynamixel.
This library is inspired from libmrsim, and it provides the main functionalities and data structures to emulate the Dynamixel motors.

Installation

To install, you need the following software packages, which are available as subprojects.

Please follow the instructions provided in each subproject's wiki.

Updated by Gianluca Corsini 10 months ago · 6 revisions