Differences

This shows you the differences between two versions of the page.

--- dynamixel:ros [2018/09/27 17:33] – typos
+++ dynamixel:ros [2024/09/23 13:37] (current) – typos
@@ Line 2: / Line 2: @@
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-This section will guide you to instructions for installing the ROS Dynamixel motor stack as well as associated tutorials to operate the motors on ROS.
+This section refers you to instructions for installing the ROS Dynamixel motor stack as well as associated tutorials to operate the motors on ROS.
-**PREREQUISITE:** This assumes:
+**Prerequisite:** This assumes:
   - instructions in [[dynamixel:hardware | hardware setup ]] have been completed.
+  - you are operating on a Ubuntu release with an appropriate distribution of ROS already installed
-  - you are operating on a Ubuntu release with the appropriate distribution of ROS already installed
 ===== Install Dynamixel Motor Stack  =====
-The following mirrors instructions found on the ROS.org page for the [[ http://wiki.ros.org/dynamixel_motor?distro=kinetic | Dynamixel motor stack ]].
+We will clone a repository forked from Anton Rebgun's [[ https://github.com/arebgun/dynamixel_motor | dynamixel_motor ]] repository. The final version of ROS supported by this motor controller stack was ROS 1 kinetic (Python 2.7). Our lab-maintained fork of this repository has been updated to support ROS1 melodic and beyond (Python 3); ROS2 is **not supported**.
-To download and install the motor stack, open a terminal and run,
+If you haven't yet created a catkin workspace, open a terminal and run the following:
 <code>
-sudo apt-get install ros-%ROS_DISTRO%-dynamixel-motor
+$ source /opt/ros/%ROS_DISTRO%/setup.bash
+$ mkdir -p ~/catkin_ws/src
+$ cd ~/catkin_ws/
+$ catkin build
 </code>
-where '''%ROS_DISTRO%''' is replaced with the relevant ROS distribution installed on the system (eg. kinetic).
+where '''%ROS_DISTRO%''' should be replaced with the ROS distribution installed on your system (e.g. melodic, noetic).
-===== ROS Dynamixel Motor Tutorial  =====
+The following is derived from instructions found on the ROS.org page for the [[ http://wiki.ros.org/dynamixel_motor?distro=kinetic | Dynamixel motor stack ]]. It will clone the forked and lab-maintained repository into your catkin workspace: [[ https://github.com/ivaROS/ivaDynamixel | https://github.com/ivaROS/ivaDynamixel ]]. It presumes your catkin workspace is located per the instructions above:
-Follow this [[ http://wiki.ros.org/dynamixel_controllers/Tutorials | tutorial ]] provided for the ROS Dynamixel motor stack.
-It will guide you through useful tools to communicate with connected motors as well as establish and use interfaces to operate motors from other programs (running as ROS nodes).
+<code>
+cd ~/catkin_ws/src
+git clone https://github.com/ivaROS/ivaDynamixel.git
+</code>
+===== ROS Dynamixel Motor Tutorial  =====
+Follow this [[ http://wiki.ros.org/dynamixel_controllers/Tutorials | tutorial ]] for the ROS Dynamixel motor stack.
+It will guide you through useful tools to communicate with connected motors. A walk-through is additionally provided to configure a pan-tilt motor arrangement and program a ROS node to operate it.
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-[[dynamixel:sw_prelim | Previous: Matlab Interface ]] -- [[: | Main ]]
+[[dynamixel:sw_prelim | Previous: Matlab ]] -- [[dynamixel:main | Main (Dynamixel) ]]
 ;#;