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=====Running Dynamixel using ROS=====
**Author:** <Brandon Seo> Email: <hyunduck1024@gmail.com> \\ 
**Author:** <Leonard Georgescu> Email: <georgl3@unlv.nevada.edu> 
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**Date:** Last modified on <01/12/2021>
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**Keywords:** <Ros, Tutorial, CMakeLists, step-by-step>
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===== Motivation and Audience =====

This tutorial will explain how to get the dynamixel running from ROS. Readers of this tutorial assumes the reader has the following background and interests: 


==== Parts List and Sources ====
To complete this tutorial, you'll need the following items 
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==== Directions ====
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1. Install ROS Melodic on Ubuntu 18.04 from this link: http://wiki.ros.org/melodic/Installation/Ubuntu \\
2. Important to note that the package "dynamixel_controllers" is not available for melodic. \\
3. Download Packages: 
<code c++>
$ sudo apt-get update
</code>
4. Install Dynamixel SDK: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/download/#repository \\
<code c++>
$ sudo apt-get install ros-melodic-dynamixel-sdk
</code>
5. Create ROS Package by following the instructions here: http://wiki.ros.org/ROS/Tutorials/CreatingPackage \\
6.





4. 
 * For dynamixel motor control, the following article should be downloaded [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/download/#repository|Dynamixel_sdk]]
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 * For Robot Operating System installation, use the following link. ROS-kinetic kame is used [[http://wiki.ros.org/ROS/Installation|ROS.org]]
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 you should download Mellodic 
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{{:melodic.png?400|}}
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==== Software Construction ====
To run this tutorial. The following should be completed
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*Gantry tutorial              [[http://www.daslhub.org/unlv/wiki/doku.php?i|how_to_move_gantry]] 
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*How to use Linux?  I know you've been working on Windows process so far. But ROS optimizes Linux more than Windows.
\\ you need to know how to build using Linux. [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/#cpp-linux|library set up C++ linux]]
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you have to make sure that your port is connected.
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if not, you should insert this.(sudo means doing as administrator) 
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{{:port.png?300|}}
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**Step 1**
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*ROS Tutorial                [[http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment]]
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You need to know what is the package, node, CMakeLists, topic, Publisher, Subscriber.
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It is really important before you start the gantry system using ROS.
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Make the catkin workspace. Now, you are going to make everything at catkin workspace.
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{{:catkin.png?400|}}
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you should do tutorial from 1 to 7.
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{{:ros_tutorial.png?500|}}
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When you make the package, you should be careful about this
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{{:create.png?600|}}
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you also should put 'message_generation'. These things are essential to make package.
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**Step 2**
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Make your own package to run the example code of Dynamixel.
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**Step 3**
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Modify the example code to wheel mode.
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If you just bring your code based on Windows, you may add headerfile and change some codes.
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Because this all steps are based on Linux.
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==== Final Words ====

This tutorial's objective was to build the Dynamixel code on ROS. Once the concepts were conveyed the reader could apply Opencv too.
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For questions, clarifications, etc, Email: <hyunduck1024@gamil.com>