Linux usermode service for Dynamixel AX12/AX18 servos with ZeroMQ interface
The main purpose is to allow fast and easy access to a Dynamixel servo network. I did this already with Python but cos of performance I decided to write this tool. CRC and buffer management is done in CPP so that should increase performance quite a bit.
ZeroMQ even allows us to do this in a destributed way, allowing access over the network.
I'm also planning to implement a client which will provide all the NUKE functionality, but thats the second step.
You'll need:
- dev-libs/boost
- net-libs/zeromq
- net-libs/cppzmq
- dev-libs/msgpack
git clone https://github.com/erazor83/dynamixel_zmq cd dynamixel_zmq cmake . make
There are some options to enable different additional features:
- WITH_PYPOSE - enable pypose special packages
- WITH_TROSSEN - enable Trossen Commander Support (needs libdynamixel with the same feature)
cmake -DWITH_SHARED=1 .
GNU General Public License, version 2