dynamixel

h1. Wiki

h2. 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.

!http://www.generationrobots.com/img/cms/dynamixel-daisy-chain.GIF(Dynamixel motors connected in a daisy chain)!

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

h3. Installation

First, you need to install the library "libdynamixel":https://redmine.laas.fr/projects/libdynamixel.

Then, the plugin is located in the subproject "dxsim-gazebo":https://redmine.laas.fr/projects/dxsim-gazebo.

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

h2. List of subprojects

* "libdynamixel":https://redmine.laas.fr/projects/libdynamixel ( *Public* ) : inspired from "libmrsim":https://git.openrobots.org/projects/libmrsim?jump=welcome, this library provides the main functionalities and data structures to emulate the Dynamixel motors

* "dxsim-gazebo":https://redmine.laas.fr/projects/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":https://redmine.laas.fr/projects/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":https://redmine.laas.fr/projects/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}.