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.

Installation¶

First, you need to install the library libdynamixel.

Then, the plugin is located in the subproject dxsim-gazebo.

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

List of subprojects¶

• libdynamixel ( Public ) : inspired from libmrsim, this library provides the main functionalities and data structures to emulate the Dynamixel motors
• dxsim-gazebo ( Public ) : Gazebo plugin that simulates several Dynamixel motors connected in a daisy chain. Therefore, one instance of this plugin simulates one or more motors. It requires libdynamixel.
• dynamixel-gazebo ( Private ) : deprecated. It is a Gazebo plugin that aims to simulate only one Dynamixel motor. Therefore, one instance must be created for each motor. Then, a thread is in charge of the communication within the instances in order to simulate the daisy chain. The implementation has been stopped as it was way too complex.
• magdynamixel-gazebo ( Private ) : Gazebo plugin that simulates electromagnets. It is assumed that the electromagnets communicate by means of the Dynamixel protocol. Position commands belong to {0,1}, i.e. respectively {hold,release}.