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created an ROS package separately
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| # Dynamixel SDK | ||
| <img src="http://emanual.robotis.com/assets/images/sw/sdk/dynamixel_sdk/overview/dynamixel_sdk_concept_logo.jpg"> | ||
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| ## Dynamixel SDK | ||
| The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms. For more information on Dynamixel SDK, please refer to the e-manual below. | ||
| - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) | ||
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| ## Supported Programming Languages | ||
| DynamixelSDK supports various programming languages. | ||
| - **C**: *Dynamic library and source code of this library and examples | ||
| - **C#** / **Java** / **MATLAB** / **LabVIEW**: Support based on dynamic library using C language | ||
| - **C++**: *Dynamic library and source code of this library and examples | ||
| - **Python**: Python module and examples | ||
| (* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on MacOS) | ||
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| ## ROS Packages for Dynamixel SDK | ||
| |Version|Indigo + Ubuntu Trusty|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic| | ||
| |:---:|:---:|:---:|:---:| | ||
| |[](https://badge.fury.io/gh/ROBOTIS-GIT%2FDynamixelSDK)|[](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)|[](https://travis-ci.org/ROBOTIS-GIT/DynamixelSDK)| | ||
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| ## ROBOTIS e-Manual for Dynamixel SDK | ||
| - [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) | ||
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| ## Software Release | ||
| -------------------------------------------------------------------------- | ||
| | Dynamixel SDK Version | 1.X | 2.X | 3.X ([Download](https://github.com/ROBOTIS-GIT/DynamixelSDK/releases)) | | ||
| | ------------- | ------------- | ------------- | ------------- | | ||
| | Release date | 2010.05.16 | 2015.02.10 | 2016.03.08 | | ||
| | Latest version released |||**3.6.1** (2018.06.14)| | ||
| | OS | Linux | Windows | Linux + Windows + Mac | | ||
| | Available Dynamixel models | All models | All models | All models | | ||
| ||||| | ||
| | Multi Port Control <br> (Controls Dynamixels through <br> more than two ports)| X | X | O | | ||
| | Cross-compilability | X | X | O | | ||
| | Modularized Structure | X | X | O | | ||
| ||||| | ||
| | SDK Languages : |||| | ||
| | (Protocol 1.0) | C (builds .a) | C (builds .dll)| C / C++ (builds .so & .dll & .dylib) | | ||
| | (Protocol 2.0) | C++ (builds .so)| C (builds .dll)| C / C++ (builds .so & .dll & .dylib) | | ||
| | SDK Examples : | | | | | ||
| | (C ver. Library binded)| C | | C| | ||
| | | | C++| | | ||
| | | | C#| C# | | ||
| | | | MATLAB| MATLAB | | ||
| | | | LabVIEW| LabVIEW | | ||
| | | | VB| | | ||
| | | | | Java | | ||
| | (C++ ver. Library binded)¹| C++| | C++| | ||
| | | | | ROS | | ||
| | | | | Arduino | | ||
| | (Python ver. Library binded)| Python| | Python| | ||
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| ##### ¹ C++ ver. Library is not optimized in binding other languages. Please use C ver. Library instead. | ||
| --------------------------------------------------------------------------- | ||
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| * #### [Quick Start Video](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/quick_start_video/#quick-start-video) may make you run your Dynamixel in 20 minutes. | ||
| * #### See 'How to use' in [Dynamixel SDK e-Manual](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) | ||
| * #### Visit [ROBOTIS E-Manual](http://emanual.robotis.com/) and have details of ROBOTIS products | ||
| * #### Here we opened [FAQ board](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/frequently_asked_questionsfaq/#frequently-asked-questionsfaq). You may get your keys faster! | ||
| * #### But any questions related with DynamixelSDK are always welcomed. Just let me know at: [ISSUES](https://github.com/ROBOTIS-GIT/DynamixelSDK/issues) | ||
| * #### For the other questions, including Hardware-wise problems on your Dynamixels, please contact to [email protected] | ||
| For more information on ROS Packages for Dynamixel SDK, please refer to the ROS wiki pages below. | ||
| - http://wiki.ros.org/dynamixel_sdk | ||
| - http://wiki.ros.org/dynamixel_workbench | ||
| - http://wiki.ros.org/dynamixel_workbench_msgs |
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| # Dynamixel SDK Release Notes | ||
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| 3.6.2 (2018-07-17) | ||
| ------------------ | ||
| * added python modules for ROS to ros folder | ||
| * moved cpp library files for ROS to ros folder | ||
| * created an ROS package separately `#187 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/187>`_ | ||
| * modified the e-Manual address to emanual.robotis.com | ||
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| 3.6.1 (2018-06-14) | ||
| ------------------ | ||
| * removed printTxRxResult(), printRxPacketError() `#193 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/193>`_ | ||
| * removed cache files | ||
| * merge pull request `#195 <https://github.com/ROBOTIS-GIT/DynamixelSDK/issues/195>`_ | ||
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| 3.6.0 (2018-03-16) | ||
| ------------------ | ||
| * Replaced: DynamixelSDK Python as a native language (Python 2 and 3 for Windows, Linux, Mac OS X) #93 #122 #147 #181 #182 #185 | ||
| * Added: CONTRIBUTING.md added | ||
| * Changes: ISSUE_TEMPLATE.md modified | ||
| * Changes: C++ version - SyncRead / BulkRead - getError functions added | ||
| * Changes: Deprecated functions removed | ||
| * Fixes: DynamixelSDK MATLAB 2017 - new typedef (int8_t / int16_t / int32_t) applied in robotis_def.h #161 #179 | ||
| * Fixes: Added missing header file for reset and factory_reset examples #167 | ||
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| 3.5.4 (2017-12-01) | ||
| ------------------ | ||
| * Added: Deprecated is now being shown by attributes #67 #107 | ||
| * Fixes: DynamixelSDK ROS Indigo Issue - target_sources func in CMake | ||
| * Fixes: Bug in protocol1_packet_handler.cpp, line 222 checking the returned Error Mask #120 | ||
| * Fixes: Packet Handlers - array param uint8_t to uint16_t to avoid closure loop when the packet is too long to be in uint8_t appropriately | ||
| * Fixes: Group Syncwrite using multiple ports in c library issue solved (test code is also in this issue bulletin) #124 | ||
| * Fixes: Support getting of time on MacOSX/XCode versions that doesn't support (CLOCK_REALTIME issue) #141 #144 | ||
| * Changes: DynamixelSDK Ubuntu Linux usb ftdi latency timer fix issue - changes the default latency timer as 16 ms in all OS, but some about how to change the latency timer was commented in the codes (now the latency timer should be adjusted by yourself... see port_handler_linux source code to see details) #116 | ||
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| 3.5.3 (2017-10-30) | ||
| ------------------ | ||
| * Fixes: DynamixelSDK ROS Kinetic Issue - ARM - Debian Jessie solved by replacing target_sources func in CMake to set_property #136 | ||
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| 3.5.2 (2017-09-18) | ||
| ------------------ | ||
| * Recover: Check if the id of rxpacket is the same as the id of txpacket (c++) #82 | ||
| * Changes: Ping examples now will not show Dynamixel model number when communication is failed | ||
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| 3.5.1 (2017-08-18) | ||
| ------------------ | ||
| * Mac OS supports DynamixelSDK #51 | ||
| * DynamixelSDK lib for Arduino (Arduino / OpenCR / OpenCM9.04) uploaded (TODO: Arduino Uno compatible DynamixelSDK light version) | ||
| * DynamixelSDK example for Arduino uploaded. It can be referred in OpenCR Repository (https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/07.%20DynamixelSDK) | ||
| * DynamixelSDK LabVIEW can get communication result and Dynamixel error | ||
| * Standardizes folder structure of c, c++, ROS and Arduino c++ languages | ||
| * Fixes: Inconvenient way of getting meaning of packet result and error value #67 | ||
| * Fixes: Misleading indentation warning in group_sync_read.c #91 | ||
| * Fixes: Maximum length of port name is expanded to 100 #100 | ||
| * Alternative: Include port_handler.h through relative path. #90 | ||
| * Changes: Indent correction / Example tests & refresh / OS IFDEF | ||
| * Changes: Default Baudrate from 1000000(1M) bps to 57600 bps | ||
| * Changes: Macro for control table value changed to uints | ||
| * Changes: API references will be provided as doxygen (updates in c++ @ 3.5.1) | ||
| * Changes: License changed into Apache License .2.0 (Who are using SDK in previous license can use it as it is) | ||
| * Deprecated: printTxRxResult, printRxPacketError function will be unavailable in Dynamixel SDK 3.6.1 | ||
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| 3.4.7 (2017-07-18) | ||
| ------------------ | ||
| * hotfix - Bug in Dynamixel group control is solved temporarily | ||
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| 3.4.6 (2017-07-07) | ||
| ------------------ | ||
| * hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series) | ||
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| 3.4.5 (2017-05-23) | ||
| ------------------ | ||
| * Merge branch 'kinetic-devel' of github.com:ROBOTIS-GIT/DynamixelSDK into kinetic-devel | ||
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| 3.4.4 (2017-04-26) | ||
| ------------------ | ||
| * hotfix - return delay time is changed from 4 into 8 due to the Ubuntu update 16.04.2 | ||
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| 3.4.3 (2017-02-17) | ||
| ------------------ | ||
| * DynamixelSDK C++ ver. and ROS ver. in Windows platform now can use the port number of over then 10 #45 | ||
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| 3.4.2 (2017-02-16) | ||
| ------------------ | ||
| * fprintf output in GroupBulkRead of C++ removed | ||
| * MATLAB library compiler error solving | ||
| * Makefile for build example sources in SBC added | ||
| * build files of windows c and c++ SDK rebuilt by using renewed SDK libraries | ||
| * example source of dxl_monitor - c and cpp ver modified #50 | ||
| * Solved issue: #31, #34, #36, #50 | ||
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| 3.4.1 (2016-08-22) | ||
| ------------------ | ||
| * Added ROS package folder for ROS users | ||
| * Modified c++'s original header files for ROS package | ||
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| 3.4.0 (2016-08-12) | ||
| ------------------ | ||
| * Added a ROS package information for ROS users | ||
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| 3.3.3 (2016-08-03) | ||
| ------------------ | ||
| * SDK C# Resource Files comments Korean -> English | ||
| * SDK C# properties comments Korean removed | ||
| * SDK C# example default device path modified | ||
| * SDK All License marks for example codes updated | ||
| * SDK Java example source - folder name changed | ||
| * SDK MATLAB example code modified as platform version auto-detection #1 | ||
| * SDK C/C++ build file for linux used by SBC(Single Board Computer)s updated #15 | ||
| * Solved issue: #1, #15 | ||
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| 3.3.2 (2016-06-30) | ||
| ------------------ | ||
| * SDK Python strange printout problem solved | ||
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| 3.3.1 (2016-06-30) | ||
| ------------------ | ||
| * SDK Python Errors in linux debugged | ||
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| 3.3.0 (2016-06-28) | ||
| ------------------ | ||
| * SDK C# example as C version library binded source - released | ||
| * SDK Python example as C version library binded source - released | ||
| * SDK Java example as C version library binded source - released | ||
| * SDK MATLAB example as C version library binded source - released | ||
| * SDK LabVIEW example as C version library binded source - released | ||
| * SDK C - Bug fixed (#8) | ||
| * Solved issue: #8 | ||
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| 3.2.0 (2016-06-07) | ||
| ------------------ | ||
| * SDK C version - Code Refactoring | ||
| * SDK C version - Code style modified into ROS c++ code style | ||
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| 3.1.0 (2016-05-31) | ||
| ------------------ | ||
| * Code Refactoring | ||
| * Code style modified into ROS c++ code style | ||
| * License specified in the source code | ||
| * Solved issue: #3 | ||
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| 3.0.3 (2016-05-18) | ||
| ------------------ | ||
| * Linux C version source codes uploaded | ||
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| 3.0.2 (2016-05-17) | ||
| ------------------ | ||
| * Windows C version source codes uploaded | ||
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| 3.0.1 (2016-04-26) | ||
| ------------------ | ||
| * Windows C++ version begun to be serviced | ||
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| 3.0.0 (2016-03-08) | ||
| ------------------ | ||
| * Linux C++ version source codes uploaded |
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