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Dynamixel SDK Documentation

repository·main·Indexed 18 days ago

https://github.com/robotis-git/dynamixelsdk

A multi-language software development kit for controlling Dynamixel actuators and platforms via packet communication. Supports C, C++, Python, C#, Java, MATLAB, and LabVIEW. Features include a unified CMake build system for C/C++, support for ROS 2 and Linux SBCs, and specialized Python functions like Fast Sync Read and Fast Bulk Read.

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What's inside Dynamixel SDK

  3. Supported Programming Languages for Dynamixel SDK

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    Dynamixel SDK provides support across multiple programming languages, categorized by how they interface with the core library:

    • C: Includes both the dynamic library and source code, along with examples.
    • C++: Includes both the dynamic library and source code, along with examples.
    • Python: Provided as a dedicated Python module with examples.
    • C# / Java / MATLAB / LabVIEW: These languages support Dynamixel SDK via the dynamic library provided in C.

    Dynamic libraries are provided in various formats depending on the operating system: .dll (Windows), .so (Linux), and .dylib (MacOS).

  4. Build C and C++ SDK using CMake

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    Starting from version 4.0.4, a CMakeLists.txt file has been added to provide a unified build system for C and C++ implementations. This simplifies the build process across different environments.

    # Use CMakeLists.txt for unified build system in c, c++ (Added in 4.0.4)

  5. Use Dynamixel Easy SDK with ROS 2 and Linux SBCs

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    The Dynamixel Easy SDK (introduced/updated in 4.0.0 and 4.0.3) supports the following environments:

    • Linux Single Board Computers (SBC)
    • Linux 32-bit platforms
    • ROS 2 based build and deployment workflows
    • Linux 64-bit (updated in 4.0.0)