Download and Compilation

Download

To get dynamixel_control_hw, simply clone the source code from https://github.com/resibots/dynamixel_contrl_hw.git with git.

Note

Don’t forget to clone it into your catkin_workspace directory cd $HOME/catkin_ws/src .

Dependencies

Note

You need to store the installation path of libdynamixel in your environment variable inside your ~/.bashrc file export LIBDYNAMIXEL=/home/USER/Resibots .

ROS Dependencies :

  • catkin

  • rospy

  • roscpp

  • urdf

  • std_msgs

  • message_generation

  • hardware_interface

  • combined_robot_hw

  • controller_manager

  • ros-controllers

  • joint-state-publisher:

    apt-get install ros-kinetic-catkin ros-kinetic-rospy ros-kinetic-roscpp ros-kinetic-urdf ros-kinetic-std-msgs ros-kinetic-message-generation ros-kinetic-hardware-interface ros-kinetic-combined-robot-hw ros-kinetic-controller-manager ros-kinetic-ros-controllers ros-kinetic-joint-state-publisher

Building

The build system for this package is catkin . Don’t run away yet. Here is how we compile and install it :

Note

don’t forget to install ROS kinetic before and libdynamixel .

  1. Clone

    simply clone the package dynamixel_control_hw in our catkin workspace source folder

    cd $HOME/catkin_ws/src
git clone https://github.com/resibots/dynamixel_control_hw.git
  2. Compilation

    go into our workspace directory, then compile

    cd ..
catkin_make

Building the documentation

Note

This section is only useful for developers who need to update the documentation.

Install sphinx via pip:

sudo pip install Sphinx
sudo pip install sphinxcontrib-bibtex

Warning

On Mac OSX, do not use brew install sphinx because this is not the right sphinx

Install the Resibots theme for Sphinx:

git clone https://github.com/resibots/sphinx_resibots_theme
export SPHINX_RESIBOTS_THEME="/home/me/path/to/sphinx_resibots_theme"

Install breathe via pip:

sudo pip install breathe

Install doxygen via your package manager (e.g. apt-get / brew):

apt-get install doxygen

create a temporary folder where we generate the documentation:

rm -rf /tmp/doc_dynamixel_control_hw
mkdir /tmp/doc_dynamixel_control_hw
cd /tmp/doc_dynamixel_control_hw
git clone git@github.com:resibots/dynamixel_control_hw.git
cd dynamixel_control_hw/
git checkout doc
cd doc
make html
git checkout gh-pages
cd ..
cp -r doc/_build/html/* .
git add .
git commit -m 'manualy update of the doc [skip ci]'
git push origin gh-pages
rm -rf /tmp/doc_dynamixel_control_hw

Note

in general, we’re using the branch doc to write the documentation and the branch gh-pages which contains html files.

About sphinx and ReStructuredText: