Wiki¶

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.

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.

• libdynamixel.
• dxsim-gazebo.

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