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LasseBoerresen / Mayday

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get latest dynamixel_sdk for ros2 #7

Closed LasseBoerresen closed 4 years ago

LasseBoerresen commented 4 years ago

official documentation on robotis github https://github.com/ROBOTIS-GIT/DynamixelSDK

LasseBoerresen commented 4 years ago

TODO document and script installguide for this package in order to reproduce.

LasseBoerresen commented 4 years ago

installed dynamixel sdk using apt install with command taken from here: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/download/#repository $ sudo apt install ros-foxy-dynamixel-sdk

LasseBoerresen commented 4 years ago

i installed dynamixel_sdk in the Mayday repos virtual environment by running python python/setup.py install with the env active. Then pycharm could resolve the dynamixel_sdk import. I found which libray path it uses by running dynamixel_sdk.file.

But still the read_and_write.py test scripts would not work in pycharm. This has to do with how it executes, which is not in a real terminal. But by enabling "emulate terminal" in the runconfiguration and a template for future settings, it then could move a leg. Solution found here: https://intellij-support.jetbrains.com/hc/en-us/community/posts/360003383619-Pycharm-2019-termios-error-25-Inappropriate-ioctl-for-device-

LasseBoerresen commented 4 years ago

I removed all manual inputs and the termios import logic to read_write.py and suddenly it runs fine in pycharm, without emulating terminal in run configuration. Now the test works. The robot leg moved :) This could be the start of a beautiful hardware integration test package.