Interfacing Dynamixel with ROS
If you successfully configured the Dynamixel servo, then it will be very easy to interface Dynamixel with ROS running on Ubuntu. As we've already discussed, there is no need of an FTDI driver in Ubuntu because it's already built into the kernel. The only thing we have to do is install the ROS Dynamixel driver packages.
The ROS Dynamixel packages are available at the following link:
http://wiki.ros.org/dynamixel_motor
You can install the Dynamixel ROS packages using commands we'll look at now.
Installing the ROS dynamixel_motor packages
The ROS dynamixel_motor package stack is a dependency for the face tracker project, so we can install it to the ros_project_dependencies_ws ROS workspace.
Open a Terminal and switch to the src folder of the workspace:
$ cd ~/ros_project_dependencies_ws/src
Clone the latest Dynamixel driver packages from GitHub:
$ git clone https://github.com/arebgun/dynamixel_motor
Remember to do a catkin_make to build the entire packages of the Dynamixel driver.
If you can build the workspace without any errors, you are done with meeting the dependencies of this project.
Congratulations! You are done with the installation of the Dynamixel driver packages in ROS. We have now met all the dependencies required for the face tracker project.
So let's start working on face tracking project packages.