dynamixel-workbench

 下载ROS软件包

git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git

下载依赖包

git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git

构建舵机库

cd ~/dynamixel-workbench/dynamixel_workbench_toolbox/examples
mkdir -p build && cd build
cmake ..
make

复制规则文件

wget https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel-workbench/master/99-dynamixel-workbench-cdc.rules
sudo cp ./99-dynamixel-workbench-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

检查USB端口

ls /dev/tty*

查找舵机

rosrun dynamixel_workbench_controllers find_dynamixel /dev/ttyUSB0