Dynamixel AX-12A C++ Library

Install Build Tools

sudo apt-get install python-catkin-tools

Build Library:

cd
mkdir catkin_ws #if a workspace does not already exist
cd catkin_ws
git clone https://github.com/rosmod/lib-dynamixel.git src/lib-dynamixel
catkin build dynamixel

Update Library:

cd ~/catkin_ws
catkin clean dynamixel
cd src/lib-dynamixel
git pull
cd ..
catkin build dynamixel

Rosmod source library setup

1. In this github repo navigate to releases, right click on pid.zip (not the source code zip!) and select `Copy link address'
2. In a rosmod project, drag in a new source library to the software model
3. Paste the link in the url attribute
4. Name the source library dynamixel
5. Drag the library into the set editor of any component that uses it
6. In the forwards section of the component add #include "dynamixel.h

Use the Library without ROS:

You will find an example CMake File and source file. These are all found within the test directory, which contains a README as well. This serves as an example of how to integrate this code into a project that does not use ROS.