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Revision 4 (Gianluca Corsini, 2023-07-05 14:06) → Revision 5/6 (Gianluca Corsini, 2023-07-05 14:13)

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 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}.