Starter Kit for ROS + Dynamixel

Setup

The setup assume that you have the following environment

1. Ubuntu system with ROS and urdf and urdf_tutorial packages installed
2. Dynamxiel motor package
3. A catkin workspace
4. USB2Dynamixel adaptor
5. A properly assembled humanoid

    # go to the workspace
    cd ~/catkin_ws/src
    # clone the package
    git clone https://github.com/slavikshen/ax12a_bioroid.git
    # connect your humanoid with USB2Dynamixel
    # connect the powersource
    # show 
    bash start.sh    

Preview

Tasks

• Connect ROS with AX-12A humanoid
• URDF 3D model binding
• Control humanoid with rviz
• Add arduino sensors
• ガンダムが大地に立つ!!

More

http://dynmobile.ghost.io/setup-ros-dynamixel-bioroid-on-mac/