irsl_dynamixel_hardware_shm

build

sudo apt install python3-vcstool
mkdir -p <your_work_space>/src
source /opt/ros/<distro>/setup.bash
cd <your_work_space>
wget https://raw.githubusercontent.com/IRSL-tut/irsl_ros_control_shm/refs/heads/main/test/install.noetic.vcs
(cd src; vcs import --recursive < ../install.noetic.vcs)
catkin init
catkin config --install
catkin build irsl_dynamixel_hardware_shm irsl_ros_control_shm

Execute

example

• run hardware

source <your_work_space>/install/setup.bash
dynamixel_hardware_shm --hash 8888 --shm_key 8888 --config <path_to>/config.yaml

• run control

source <your_work_space>/install/setup.bash
cd <your_work_space>/src/irsl_ros_control_shm/test
roslaunch ros_control_shm.launch hash:=8888 shm_key:=8888 control_config:=ros_control.yaml robot_name:=dynamixel

Command line Option

Option Name	Type / Example	Description	Default Value
shm_hash	String Example: 1234	Specifies the shared memory hash value.	"8888"
shm_key	String Example: 5678	Specifies the shared memory key.	"8888"
config_file	String Example: config.yaml	Specifies the name of the input configuration file (YAML format).	"config.yaml"
-v, --verbose	Flag	Enables verbose output.	(Default: Off)