Wiki » History » Version 6
Gianluca Corsini, 2023-07-05 14:21
| 1 | 1 | Gianluca Corsini | h1. Wiki |
|---|---|---|---|
| 2 | |||
| 3 | 5 | Gianluca Corsini | h2. Dynamixel Gazebo plugin |
| 4 | |||
| 5 | 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. |
||
| 6 | |||
| 7 | !http://www.generationrobots.com/img/cms/dynamixel-daisy-chain.GIF(Dynamixel motors connected in a daisy chain)! |
||
| 8 | > Source: http://www.generationrobots.com. |
||
| 9 | |||
| 10 | 6 | Gianluca Corsini | It is based on the library "libdynamixel":https://redmine.laas.fr/projects/libdynamixel. |
| 11 | This library is inspired from "libmrsim":https://git.openrobots.org/projects/libmrsim?jump=welcome, and it provides the main functionalities and data structures to emulate the Dynamixel motors. |
||
| 12 | |||
| 13 | 2 | Gianluca Corsini | h3. Installation |
| 14 | 1 | Gianluca Corsini | |
| 15 | 6 | Gianluca Corsini | To install, you need the following software packages, which are available as subprojects. |
| 16 | * "libdynamixel":https://redmine.laas.fr/projects/libdynamixel. |
||
| 17 | * "dxsim-gazebo":https://redmine.laas.fr/projects/dxsim-gazebo. |
||
| 18 | 3 | Gianluca Corsini | |
| 19 | 6 | Gianluca Corsini | *Please follow the instructions provided in each subproject's wiki*. |