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### Factory Reset Example in C

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/sample_code/c/reset_protocol_1_0

This example demonstrates how to initialize the port and perform a factory reset on a Protocol 1.0 Dynamixel device. Ensure the DEVICENAME and BAUDRATE constants are configured correctly for your specific hardware setup.

```c
/*  

* reset.c  

*  

*  Created on: 2016. 5. 16.  

*      Author: Leon Ryu Woon Jung  

*/  

  

//  

// *********     Factory Reset Example      *********  

//  

//  

// Available Dynamixel model on this example : All models using Protocol 1.0  

// This example is designed for using a Dynamixel MX-28, and an USB2DYNAMIXEL.  

// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.  

// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])  

//  

  

// Be aware that:  

// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)  

//  

  

#ifdef __linux__  

#include <unistd.h>  

#include <fcntl.h>  

#include <termios.h>  

#elif defined(_WIN32) || defined(_WIN64)  

#include <conio.h>  

#endif  

  

#include <stdio.h>  

#include "dynamixel_sdk.h"                                   // Uses DYNAMIXEL SDK library  

  

// Control table address  

#define ADDR_MX_BAUDRATE                4                   // Control table address is different in Dynamixel model  

  

// Protocol version  

#define PROTOCOL_VERSION                1.0                 // See which protocol version is used in the Dynamixel  

  

// Default setting  

#define DXL_ID                          1                   // Dynamixel ID: 1  

#define BAUDRATE                        1000000  

#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller  

                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"  

  

#define FACTORYRST_DEFAULTBAUDRATE      57600               // Dynamixel baudrate set by factoryreset  

#define NEW_BAUDNUM                     1                   // New baudnum to recover Dynamixel baudrate as it was  

#define OPERATION_MODE                  0x00                // Mode is unavailable in Protocol 1.0 Reset  

  

#define TORQUE_ENABLE                   1                   // Value for enabling the torque  

#define TORQUE_DISABLE                  0                   // Value for disabling the torque  

  

int getch()  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  ch = getchar();  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  return ch;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _getch();  

#endif  

}  

  

int kbhit(void)  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  int oldf;  

  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);  

  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);  

  

  ch = getchar();  

  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  fcntl(STDIN_FILENO, F_SETFL, oldf);  

  

  if (ch != EOF)  

  {  

    ungetc(ch, stdin);  

    return 1;  

  }  

  

  return 0;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _kbhit();  

#endif  

}  

  

void msecSleep(int waitTime)  

{  

#ifdef __linux__  

    usleep(waitTime * 1000);  

#elif defined(_WIN32) || defined(_WIN64)  

    Sleep(waitTime);  

#endif  

}  

  

int main()  

{  

  // Initialize PortHandler Structs  

  // Set the port path  

  // Get methods and members of PortHandlerLinux or PortHandlerWindows  

  int port_num = portHandler(DEVICENAME);  

  

  // Initialize PacketHandler Structs  

  packetHandler();  

  

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result  

  

  uint8_t dxl_error = 0;                          // Dynamixel error  

  uint8_t dxl_baudnum_read;                       // Read baudnum  

  

  // Open port  

  if (openPort(port_num))  

  {  

    printf("Succeeded to open the port!\n");  

  }  

  else  

  {  

    printf("Failed to open the port!\n");  

    printf("Press any key to terminate...\n");  

    getch();  

    return 0;  

  }  

  

  // Set port baudrate  

  if (setBaudRate(port_num, BAUDRATE))  

  {  

    printf("Succeeded to change the baudrate!\n");  

  }  

  else  

  {  

    printf("Failed to change the baudrate!\n");  

    printf("Press any key to terminate...\n");  

    getch();  

    return 0;  

  }  

  

  // Read present baudrate of the controller  

  printf("Now the controller baudrate is : %d\n", getBaudRate(port_num));  

  

  // Try factoryreset  
```

--------------------------------

### Setup Physical AI Tools Container

Source: https://docs.robotis.com/docs/systems/omx/resources/legacy/physical_ai_tools/setup_guide

Commands to clone the repository and start the container.

```bash
git clone --recurse-submodules https://github.com/ROBOTIS-GIT/physical_ai_tools.git  
```

```bash
cd physical_ai_tools/docker && ./container.sh start  
```

--------------------------------

### Factory Reset C++ Example

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/sample_code/cpp/reset_protocol_2_0

This example demonstrates how to initialize the Dynamixel SDK and perform a factory reset on a device using Protocol 2.0. Ensure the device name and baudrate are correctly configured for your specific hardware setup.

```cpp
/*  

 * factory_reset.cpp  

 *  

 *  Created on: 2016. 2. 21.  

 *      Author: leon  

 */  

  

//  

// *********     Factory Reset Example      *********  

//  

//  

// Available Dynamixel model on this example : All models using Protocol 2.0  

// This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.  

// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.  

// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])  

//  

  

// Be aware that:  

// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)  

//  

  

#ifdef __linux__  

#include <unistd.h>  

#include <fcntl.h>  

#include <termios.h>  

#elif defined(_WIN32) || defined(_WIN64)  

#include <conio.h>  

#endif  

#include <stdio.h>  

  

#include "dynamixel_sdk.h"                                  // Uses DYNAMIXEL SDK library  

  

// Control table address  

#define ADDR_PRO_BAUDRATE               8                   // Control table address is different in Dynamixel model  

  

// Protocol version  

#define PROTOCOL_VERSION                2.0                 // See which protocol version is used in the Dynamixel  

  

// Default setting  

#define DXL_ID                          1                   // Dynamixel ID: 1  

#define BAUDRATE                        1000000  

#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller  

                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"  

  

#define FACTORYRST_DEFAULTBAUDRATE      57600               // Dynamixel baudrate set by factoryreset  

#define NEW_BAUDNUM                     3                   // New baudnum to recover Dynamixel baudrate as it was  

#define OPERATION_MODE                  0x01                // 0xFF : reset all values  

                                                            // 0x01 : reset all values except ID  

                                                            // 0x02 : reset all values except ID and baudrate  

  

int getch()  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  ch = getchar();  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  return ch;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _getch();  

#endif  

}  

  

int kbhit(void)  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  int oldf;  

  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);  

  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);  

  

  ch = getchar();  

  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  fcntl(STDIN_FILENO, F_SETFL, oldf);  

  

  if (ch != EOF)  

  {  

    ungetc(ch, stdin);  

    return 1;  

  }  

  

  return 0;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _kbhit();  

#endif  

}  

  

void msecSleep(int waitTime)  

{  

#ifdef __linux__  

  usleep(waitTime * 1000);  

#elif defined(_WIN32) || defined(_WIN64)  

  Sleep(waitTime);  

#endif  

}  

  

int main()  

{  

  // Initialize PortHandler instance  

  // Set the port path  

  // Get methods and members of PortHandlerLinux or PortHandlerWindows  

  dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);  

  

  // Initialize PacketHandler instance  

  // Set the protocol version  

  // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler  

  dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);  

  

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result  

  

  uint8_t dxl_error = 0;                          // Dynamixel error  

  uint8_t dxl_baudnum_read;                       // Read baudnum  

  

  // Open port  

  if (portHandler->openPort())  

  {  

    printf("Succeeded to open the port!\n");  

  }  

  else  

  {  

    printf("Failed to open the port!\n");  

    printf("Press any key to terminate...\n");  

    getch();  

    return 0;  

  }  

  

  // Set port baudrate  
```

--------------------------------

### Bulk Read and Write Implementation

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/bulk_read_write_tutorial/cpp

This example shows the full implementation of bulk read and write operations, including port initialization, parameter setup, and the main control loop.

```cpp
    dxl_addparam_result = groupBulkWrite.addParam(dxl_id2, led_address, data_length_1byte, &led_data);  

    if (!dxl_addparam_result) {  

      std::cout <<"[ID:" << (int)dxl_id2  <<"]groupBulkWrite addparam failed" << std::endl;  

      return 0;  

    }  

  

    dxl_comm_result = groupBulkWrite.txPacket();  

    if (dxl_comm_result != COMM_SUCCESS) {  

      std::cout << packetHandler->getTxRxResult(dxl_comm_result) << std::endl;  

    }  

    groupBulkWrite.clearParam();  

  

    int dxl1_present_position;

    do{  

      dxl_comm_result = groupBulkRead.txRxPacket();  

      if (dxl_comm_result != COMM_SUCCESS) {  

        std::cout << packetHandler->getTxRxResult(dxl_comm_result) << std::endl;  

      }  

      dxl_getdata_result = groupBulkRead.isAvailable(dxl_id1, present_position_address, data_length_4byte);  

      if (dxl_getdata_result != true) {  

        std::cout << "[ID:" << (int)dxl_id1 << "] groupBulkRead getdata failed" << std::endl;  

        return 0;  

      }  

  

      dxl_getdata_result = groupBulkRead.isAvailable(dxl_id2, led_address, data_length_1byte);  

      if (dxl_getdata_result != true) {  

        std::cout << "[ID:" << (int)dxl_id2 << "] groupBulkRead getdata failed" << std::endl;  

        return 0;  

      }  

      dxl1_present_position = groupBulkRead.getData(dxl_id1, present_position_address, data_length_4byte);  

      dxl2_led_value_read = groupBulkRead.getData(dxl_id2, led_address, data_length_1byte);  

      printf("[ID:%03d] Present Position : %d \t [ID:%03d] LED Value: %d\n", dxl_id1, dxl1_present_position, dxl_id2, dxl2_led_value_read);  

    } while (abs(target_position - dxl1_present_position) > 10);  

  }  

  data = 0;  

  packetHandler->write1ByteTxRx(portHandler, dxl_id1, torque_on_address, data);  

  packetHandler->write1ByteTxRx(portHandler, dxl_id2, torque_on_address, data);  

  portHandler->closePort();  

  

  return 0;  

}  
```

```cpp
#include "dynamixel_sdk/dynamixel_sdk.h"  

#include <iostream>  

  

int main(){  

  dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler("COM3");  

  dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(2.0);  

  dynamixel::GroupBulkWrite groupBulkWrite(portHandler, packetHandler);  

  dynamixel::GroupBulkRead groupBulkRead(portHandler, packetHandler);  

  

  uint8_t dxl_error = 0;  

  int dxl_comm_result = COMM_TX_FAIL;  

  bool dxl_addparam_result = false;  

  bool dxl_getdata_result = false;  

  

  if (portHandler->openPort()) {  

    std::cout << "Succeeded to open the port!\n";  

  } else {  

    std::cout << "Failed to open the port!\n";  

    return 0;  

  }  

  

  if (portHandler->setBaudRate(57600)) {  

    std::cout << "Succeeded to change the baudrate!\n";  

  } else {  

    std::cout << "Failed to change the baudrate!\n";  

    return 0;  

  }  

  

  uint8_t dxl_id1 = 1;  

  uint8_t dxl_id2 = 2;  

  uint16_t torque_on_address = 64;  

  uint8_t data = 1;  

  dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, dxl_id1, torque_on_address, data, &dxl_error);  

  if (dxl_comm_result != COMM_SUCCESS) {  

    std::cout << packetHandler->getTxRxResult(dxl_comm_result) << std::endl;  

  } else if (dxl_error != 0) {  

    std::cout << packetHandler->getRxPacketError(dxl_error) << std::endl;  

  } else {  

    std::cout << "Dynamixel#1 has been successfully connected \n";  

  }  

  

  dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, dxl_id2, torque_on_address, data, &dxl_error);  

  if (dxl_comm_result != COMM_SUCCESS) {  

    std::cout << packetHandler->getTxRxResult(dxl_comm_result) << std::endl;  

  } else if (dxl_error != 0) {  

    std::cout << packetHandler->getRxPacketError(dxl_error) << std::endl;  

  } else {  

    std::cout << "Dynamixel#2 has been successfully connected \n";  

  }  

  

  uint16_t present_position_address = 132;  

  uint16_t data_length_4byte = 4;  

  dxl_addparam_result = groupBulkRead.addParam(dxl_id1, present_position_address, data_length_4byte);  

  if (!dxl_addparam_result) {  

    std::cout <<"[ID:" << (int)dxl_id1  <<"]groupBulkRead addparam failed" << std::endl;  

    return 0;  

  }  

  

  uint16_t led_address = 65;  

  uint16_t data_length_1byte = 1;  

  dxl_addparam_result = groupBulkRead.addParam(dxl_id2, led_address, data_length_1byte);  

  if (!dxl_addparam_result) {  

    std::cout <<"[ID:" << (int)dxl_id2  <<"]groupBulkRead addparam failed" << std::endl;  

    return 0;  

  }  

  

  int target_position = 0;  

  uint8_t dxl2_led_value_read = 0;  

  while(true){  

    std::cout << "Enter target position (0 ~ 4095): ";  

    std::cin >> target_position;  

    if(target_position == -1){  

      break;  

    } else if(target_position < 0 || target_position > 4095){  

      std::cout << "Position must be between 0 and 4095." << std::endl;  

      continue;  

    }  
```

--------------------------------

### Install qt_ros package

Source: https://docs.robotis.com/docs/systems/op3/recovery

Install the qt_ros package using apt.

```bash
$ sudo apt install ros-kinetic-qt-ros  
```

--------------------------------

### Start Docker Container

Source: https://docs.robotis.com/docs/systems/aiworker/simulation/isaac_sim_lab

Builds and starts the simulation environment container.

```bash
./docker/container.sh start  
```

--------------------------------

### Build and Install SDK

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/c

Navigate to the appropriate build directory and install the SDK.

```bash
$ cd DynamixelSDK/c/build/linux64 # for 64-bit systems

$ sudo make install
```

--------------------------------

### Get Time Since Start (Linux)

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/api_reference/c/c_porthandler

Retrieves the elapsed time since the start of the port operation.

```c
double getTimeSinceStartLinux(int port_num)
```

--------------------------------

### getTimeSinceStartWindows

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/api_reference/c/c_porthandler

Gets the time elapsed since the start.

```APIDOC
## double getTimeSinceStartWindows(int port_num)

### Description
This function retrieves the time elapsed since the start.

### Parameters
- **port_num** (int) - Port number
```

--------------------------------

### Navigate to Example Directory

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/c

Change the current working directory to the specific protocol and architecture folder for the example.

```bash
$ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux32
```

```bash
$ cd [DynamixelSDK folder]/c/example/protocol1.0/read_write/linux64
```

--------------------------------

### getTimeSinceStartLinux

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/api_reference/c/c_porthandler

Gets the time elapsed since the start of the process.

```APIDOC
## double getTimeSinceStartLinux(int port_num)

### Description
This function gets the time elapsed since the start.

### Parameters
- **port_num** (int) - Port number
```

--------------------------------

### Build and Install SDK

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/cpp

Navigate to the appropriate build directory and compile the library.

```bash
$ cd DynamixelSDK/c++/build/linux64 # for 64-bit systems

$ sudo make install
```

--------------------------------

### Complete Launch File Example

Source: https://docs.robotis.com/docs/software/dynamixel_workbench/how_to_set_smoothing_filter

Full example of the ompl_planning_pipeline.launch.xml file after applying all modifications.

```xml
<launch>  

  

<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />  

  

<arg name="planning_adapters" value="  

industrial_trajectory_filters/UniformSampleFilter  

industrial_trajectory_filters/AddSmoothingFilter  

default_planner_request_adapters/AddTimeParameterization  

default_planner_request_adapters/FixWorkspaceBounds  

default_planner_request_adapters/FixStartStateBounds  

default_planner_request_adapters/FixStartStateCollision  

default_planner_request_adapters/FixStartStatePathConstraints" />  

  

<arg name="start_state_max_bounds_error" value="0.1" />  

  

<param name="planning_plugin" value="$(arg planning_plugin)" />  

<param name="request_adapters" value="$(arg planning_adapters)" />  

<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />  

  

<param name="sample_duration" value="0.030" />  

  

<rosparam command="load" file="$($(YOUR_MOVEIT_CONFIGURATION_PACKAGE))/config/ompl_planning.yaml"/>  

<rosparam command="load" file="$($(YOUR_MOVEIT_CONFIGURATION_PACKAGE))/config/smoothing_filter_params.yaml"/>  

  

</launch>      
```

--------------------------------

### getTimeSinceStartMac

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/api_reference/c/c_porthandler

Gets the time elapsed since the start of the port operation.

```APIDOC
## double getTimeSinceStartMac(int port_num)

### Description
This function returns the time elapsed since the start of the port operation.

### Parameters
- **port_num** (int) - Port number
```

--------------------------------

### Clone and Setup Kimodo Repository

Source: https://docs.robotis.com/docs/systems/aisapiens/motion_generation_retargeting/kimodo

Initial steps to clone the repository and prepare the Python environment.

```bash
git clone https://github.com/nv-tlabs/kimodo.git  

cd kimodo  
```

```bash
conda create -n kimodo python=3.10  

conda activate kimodo  
```

--------------------------------

### Setup ROS Sources List

Source: https://docs.robotis.com/docs/systems/openmanipulator_x/quick_start_guide

Configures the package repository for manual ROS installation.

```bash
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'  
```

--------------------------------

### Example Launch Summary Output

Source: https://docs.robotis.com/docs/systems/turtlebot3/examples/applications

Sample output showing the parameters and nodes initialized for a robot in a namespace.

```text
SUMMARY  

========  

  

PARAMETERS  

 * /rosdistro: kinetic  

 * /rosversion: 1.12.13  

 * /tb3_0/turtlebot3_core/baud: 115200  

 * /tb3_0/turtlebot3_core/port: /dev/ttyACM0  

 * /tb3_0/turtlebot3_core/tf_prefix: tb3_0  

 * /tb3_0/turtlebot3_lds/frame_id: tb3_0/base_scan  

 * /tb3_0/turtlebot3_lds/port: /dev/ttyUSB0  

  

NODES  

  /tb3_0/  

    turtlebot3_core (rosserial_python/serial_node.py)  

    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)  

    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)  

  

ROS_MASTER_URI=http://192.168.1.2:11311  

  

process[tb3_0/turtlebot3_core-1]: started with pid [1903]  

process[tb3_0/turtlebot3_lds-2]: started with pid [1904]  

process[tb3_0/turtlebot3_diagnostics-3]: started with pid [1905]  

[INFO] [1531356275.722408]: ROS Serial Python Node  

[INFO] [1531356275.796070]: Connecting to /dev/ttyACM0 at 115200 baud  

[INFO] [1531356278.300310]: Note: publish buffer size is 1024 bytes  

[INFO] [1531356278.303516]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]  

[INFO] [1531356278.323360]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo]  

[INFO] [1531356278.392212]: Setup publisher on imu [sensor_msgs/Imu]  

[INFO] [1531356278.414980]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]  

[INFO] [1531356278.449703]: Setup publisher on odom [nav_msgs/Odometry]  

[INFO] [1531356278.466352]: Setup publisher on joint_states [sensor_msgs/JointState]  

[INFO] [1531356278.485605]: Setup publisher on battery_state [sensor_msgs/BatteryState]  

[INFO] [1531356278.500973]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]  

[INFO] [1531356280.545840]: Setup publisher on /tf [tf/tfMessage]  

[INFO] [1531356280.582609]: Note: subscribe buffer size is 1024 bytes  

[INFO] [1531356280.584645]: Setup subscriber on cmd_vel [geometry_msgs/Twist]  

[INFO] [1531356280.620330]: Setup subscriber on sound [turtlebot3_msgs/Sound]  

[INFO] [1531356280.649508]: Setup subscriber on motor_power [std_msgs/Bool]  

[INFO] [1531356280.688276]: Setup subscriber on reset [std_msgs/Empty]  

[INFO] [1531356282.022709]: Setup TF on Odometry [tb3_0/odom]  

[INFO] [1531356282.026863]: Setup TF on IMU [tb3_0/imu_link]  

[INFO] [1531356282.030138]: Setup TF on MagneticField [tb3_0/mag_link]  

[INFO] [1531356282.033628]: Setup TF on JointState [tb3_0/base_link]  

[INFO] [1531356282.041117]: --------------------------  

[INFO] [1531356282.044421]: Connected to OpenCR board!  

[INFO] [1531356282.047700]: This core(v1.2.1) is compatible with TB3 Burger  

[INFO] [1531356282.051355]: --------------------------  

[INFO] [1531356282.054785]: Start Calibration of Gyro  

[INFO] [1531356284.585490]: Calibration End
```

--------------------------------

### Build and install the SDK from source

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/python

Navigate to the SDK python directory and install the package using pip.

```bash
$ cd DynamixelSDK/python  

$ pip install .  
```

```bash
$ pip install .  
```

--------------------------------

### C++ SDK Build Output Log

Source: https://docs.robotis.com/docs/software/dynamixel_easy_sdk/getting_started

Example of a successful build and installation log for the C++ library.

```bash
mkdir -p ./.objects/

g++ -shared -fPIC -m64 -o ./libdxl_x64_cpp.so ./.objects/group_bulk_read.o ./.objects/group_bulk_write.o ./.objects/group_sync_read.o ./.objects/group_sync_write.o ./.objects/group_fast_bulk_read.o ./.objects/group_fast_sync_read.o ./.objects/group_handler.o ./.objects/packet_handler.o ./.objects/port_handler.o ./.objects/protocol1_packet_handler.o ./.objects/protocol2_packet_handler.o ./.objects/port_handler_linux.o ./.objects/connector.o ./.objects/control_table.o ./.objects/motor.o ./.objects/dynamixel_error.o ./.objects/group_executor.o -lrt

cp "./libdxl_x64_cpp.so" "/usr/local/lib/libdxl_x64_cpp.so"

ln -s "/usr/local/lib/libdxl_x64_cpp.so" "/usr/local/lib/libdxl_x64_cpp.so.2"

ln -s "/usr/local/lib/libdxl_x64_cpp.so" "/usr/local/lib/libdxl_x64_cpp.so.2.0"

ln -s "/usr/local/lib/libdxl_x64_cpp.so" "/usr/local/lib/libdxl_x64_cpp.so.2.0.0"

cp -r ../../include/dynamixel_sdk/* /usr/local/include/dynamixel_sdk

cp -r ../../include/dynamixel_easy_sdk/* /usr/local/include/dynamixel_easy_sdk

cp -r ../../../control_table /usr/local/share/dynamixel_sdk/

ldconfig
```

--------------------------------

### Setup LEAP Motion

Source: https://docs.robotis.com/docs/systems/turtlebot3/quick_start_guide/teleoperation

Start the LEAP daemon, command panel, and clone the ROS integration package.

```bash
$ leapd

$ LeapCommandPanel

$ git clone git@github.com:warp1337/rosleapmotion.git
```

--------------------------------

### Compile and Run the Tutorial

Source: https://docs.robotis.com/docs/software/dynamixel_easy_sdk/single_motor_tutorial/single_motor_tutorial_step1

Use the g++ compiler to build the application with the required Dynamixel library and execute the resulting binary.

```bash
$ g++ tutorial_step1.cpp -o tutorial_step1 -l dxl_x64_cpp  

$ ./tutorial_step1  
```

--------------------------------

### Controller Launch Summary

Source: https://docs.robotis.com/docs/systems/openmanipulator_p/ros/ros_simulation

Example output showing successful initialization of the controller node.

```text
SUMMARY  

========  

  

PARAMETERS  

 * /open_manipulator_p/control_period: 0.01  

 * /open_manipulator_p/moveit_sample_duration: 0.05  

 * /open_manipulator_p/planning_group_name: arm  

 * /open_manipulator_p/using_moveit: False  

 * /open_manipulator_p/using_platform: False  

 * /rosdistro: kinetic  

 * /rosversion: 1.12.14  

  

NODES  

  /  

    open_manipulator_p (open_manipulator_p_controller/open_manipulator_p_controller)  

  

ROS_MASTER_URI=http://192.168.3.149:11311  

  

  

:::info  

  

process[open_manipulator_p-1]: started with pid [4388]  

[INFO] Ready to simulate /open_manipulator_p on Gazebo  
```

--------------------------------

### Attempt OpenVINO Setup

Source: https://docs.robotis.com/docs/systems/op3/advanced_tutorials

Initializes the OpenVINO core, selects the hardware device, and compiles the model. Requires the model file to exist or triggers creation.

```python
    def _try_openvino_setup(self) -> bool:  

        """Attempt OpenVINO model setup"""  

        try:  

            # Set model file paths  

            model_dir = Path(f"{self.yolo_model_name}_openvino_model")  

            xml_path = model_dir / f"{self.yolo_model_name}.xml"  

              

            # Create model if needed  

            if not xml_path.exists():  

                self.get_logger().info(f"⚙️  Creating OpenVINO model... ({self.yolo_model_name})")  

                self._create_openvino_model()  

                  

                # Re-check after creation  

                if not xml_path.exists():  

                    self.get_logger().warn(f"❌ OpenVINO model creation failed: {xml_path}")  

                    return False  

              

            # Initialize OpenVINO core  

            self.ov_core = ov.Core()  

              

            # Select device and compile model  

            device = self._select_best_device()  

            self.ov_model = self.ov_core.read_model(str(xml_path))  

            self.compiled_model = self.ov_core.compile_model(self.ov_model, device)  

              

            self.device_info = f"OpenVINO {device}"  

            self.is_openvino = True  

              

            # Warmup  

            self._warmup_model()  

              

            self.get_logger().info(f"🚀 OpenVINO model loaded | Device: {device}")  

            return True  

              

        except Exception as e:  

            self.get_logger().warn(f"⚠️  OpenVINO setup failed: {e}")  

            return False
```

--------------------------------

### Install Panorama Application Packages

Source: https://docs.robotis.com/docs/systems/turtlebot3/examples/basic_examples

Commands to clone and build the necessary ROS 2 packages for the panorama example on a Remote PC.

```bash
$ cd ~/turtlebot3_ws/src/  

$ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_applications.git  

$ git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs.git  

  

$ cd ~/turtlebot3_ws/  

$ colcon build --symlink-install  
```

--------------------------------

### Install demo program for startup

Source: https://docs.robotis.com/docs/systems/op3/getting_started

Configures the demo program to run on system startup using robot_upstart.

```bash
$ rosrun robot_upstart install --job JOB_NAME --user root --master http://10.42.0.1 op3_demo/launch/demo.launch
```

```bash
rosrun robot_upstart install --job OP3-demo --user root --master http://10.42.0.1:11311 op3_demo/launch/demo.launch
```

--------------------------------

### Run Serial Node for Arduino Examples

Source: https://docs.robotis.com/docs/systems/turtlebot3/more_info/additional_sensors

Starts the rosserial node on the Remote PC to communicate with the OpenCR board after uploading sensor firmware.

```bash
$ rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200
```

--------------------------------

### Build and Run Example Code

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/c

Commands to compile an example project and execute the resulting binary.

```bash
$ cd DynamixelSDK/c/example/protocol2.0  

$ cmake -B build  

$ cmake --build build  

$ cd build/Debug  

$ set PATH=C:\Program Files (x86)\dynamixel_sdk_c\bin;%PATH%  

$ broadcast_ping.exe
```

--------------------------------

### Indirect Address C++ Implementation

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/sample_code/cpp/indirect_address_protocol_2_0

This snippet provides the initial setup, control table definitions, and platform-specific input handling for the indirect address example.

```cpp
/*  

 * indirect_address.cpp  

 *  

 *  Created on: 2016. 2. 21.  

 *      Author: leon  

 */  

  

//  

// *********     Indirect Address Example      *********  

//  

//  

// Available Dynamixel model on this example : All models using Protocol 2.0  

// This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.  

// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.  

// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])  

//  

  

#ifdef __linux__  

#include <unistd.h>  

#include <fcntl.h>  

#include <termios.h>  

#elif defined(_WIN32) || defined(_WIN64)  

#include <conio.h>  

#endif  

  

#include <stdlib.h>  

#include <stdio.h>  

  

#include "dynamixel_sdk.h"                                          // Uses DYNAMIXEL SDK library  

  

// Control table address  

// Control table address is different in Dynamixel model  

#define ADDR_PRO_INDIRECTADDRESS_FOR_WRITE      49                  // EEPROM region  

#define ADDR_PRO_INDIRECTADDRESS_FOR_READ       59                  // EEPROM region  

#define ADDR_PRO_TORQUE_ENABLE                  562  

#define ADDR_PRO_LED_RED                        563  

#define ADDR_PRO_GOAL_POSITION                  596  

#define ADDR_PRO_MOVING                         610  

#define ADDR_PRO_PRESENT_POSITION               611  

#define ADDR_PRO_INDIRECTDATA_FOR_WRITE         634  

#define ADDR_PRO_INDIRECTDATA_FOR_READ          639  

  

// Data Byte Length  

#define LEN_PRO_LED_RED                         1  

#define LEN_PRO_GOAL_POSITION                   4  

#define LEN_PRO_MOVING                          1  

#define LEN_PRO_PRESENT_POSITION                4  

#define LEN_PRO_INDIRECTDATA_FOR_WRITE          5  

#define LEN_PRO_INDIRECTDATA_FOR_READ           5  

  

// Protocol version  

#define PROTOCOL_VERSION                        2.0                 // See which protocol version is used in the Dynamixel  

  

// Default setting  

#define DXL_ID                                  1                   // Dynamixel ID: 1  

#define BAUDRATE                                1000000  

#define DEVICENAME                              "/dev/ttyUSB0"      // Check which port is being used on your controller  

                                                                    // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"  

  

#define TORQUE_ENABLE                           1                   // Value for enabling the torque  

#define TORQUE_DISABLE                          0                   // Value for disabling the torque  

#define DXL_MINIMUM_POSITION_VALUE              -150000             // Dynamixel will rotate between this value  

#define DXL_MAXIMUM_POSITION_VALUE              150000              // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)  

#define DXL_MINIMUM_LED_VALUE                   0                   // Dynamixel LED will light between this value  

#define DXL_MAXIMUM_LED_VALUE                   255                 // and this value  

#define DXL_MOVING_STATUS_THRESHOLD             20                  // Dynamixel moving status threshold  

  

#define ESC_ASCII_VALUE                         0x1b  

  

int getch()  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  ch = getchar();  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  return ch;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _getch();  

#endif  

}  

  

int kbhit(void)  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  int oldf;  

  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);  

  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);  

  

  ch = getchar();  

  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  fcntl(STDIN_FILENO, F_SETFL, oldf);  

  

  if (ch != EOF)  

  {  

    ungetc(ch, stdin);  

    return 1;  

  }  

  

  return 0;  

```

--------------------------------

### Build and Run Example Code with CMake

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/cpp

Commands to build an example project and execute the resulting binary after setting the library path.

```bash
$ cd DynamixelSDK/c++/example/protocol2.0  

$ cmake -B build  

$ cmake --build build  

$ cd build/Debug  

$ set PATH=C:\Program Files (x86)\dynamixel_sdk\bin;%PATH%  

$ broadcast_ping.exe  
```

--------------------------------

### Reboot Dynamixel Example

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/sample_code/cpp/reboot_protocol_2_0

Complete C++ implementation for rebooting a Dynamixel device. Ensure the DEVICENAME and BAUDRATE constants are configured for your specific hardware setup.

```cpp
/*  

 * reboot.cpp  

 *  

 *  Created on: 2016. 2. 21.  

 *      Author: leon  

 */  

  

//  

// *********     reboot Example      *********  

//  

//  

// Available Dynamixel model on this example : All models using Protocol 2.0  

// This example is designed for using a Dynamixel PRO 54-200, and an USB2DYNAMIXEL.  

// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below "#define"d variables yourself.  

// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000 [1M])  

//  

  

#ifdef __linux__  

#include <unistd.h>  

#include <fcntl.h>  

#include <termios.h>  

#elif defined(_WIN32) || defined(_WIN64)  

#include <conio.h>  

#endif  

  

#include <stdio.h>  

  

#include "dynamixel_sdk.h"                                  // Uses DYNAMIXEL SDK library  

  

// Protocol version  

#define PROTOCOL_VERSION                2.0                 // See which protocol version is used in the Dynamixel  

  

// Default setting  

#define DXL_ID                          1                   // Dynamixel ID: 1  

#define BAUDRATE                        1000000  

#define DEVICENAME                      "/dev/ttyUSB0"      // Check which port is being used on your controller  

                                                            // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0"  

  

int getch()  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  ch = getchar();  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  return ch;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _getch();  

#endif  

}  

  

int kbhit(void)  

{  

#ifdef __linux__  

  struct termios oldt, newt;  

  int ch;  

  int oldf;  

  

  tcgetattr(STDIN_FILENO, &oldt);  

  newt = oldt;  

  newt.c_lflag &= ~(ICANON | ECHO);  

  tcsetattr(STDIN_FILENO, TCSANOW, &newt);  

  oldf = fcntl(STDIN_FILENO, F_GETFL, 0);  

  fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);  

  

  ch = getchar();  

  

  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  

  fcntl(STDIN_FILENO, F_SETFL, oldf);  

  

  if (ch != EOF)  

  {  

    ungetc(ch, stdin);  

    return 1;  

  }  

  

  return 0;  

#elif defined(_WIN32) || defined(_WIN64)  

  return _kbhit();  

#endif  

}  

  

int main()  

{  

  // Initialize PortHandler instance  

  // Set the port path  

  // Get methods and members of PortHandlerLinux or PortHandlerWindows  

  dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);  

  

  // Initialize PacketHandler instance  

  // Set the protocol version  

  // Get methods and members of Protocol1PacketHandler or Protocol2PacketHandler  

  dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);  

  

  int dxl_comm_result = COMM_TX_FAIL;             // Communication result  

  

  uint8_t dxl_error = 0;                          // Dynamixel error  

  

  // Open port  

  if (portHandler->openPort())  

  {  

    printf("Succeeded to open the port!\n");  

  }  

  else  

  {  

    printf("Failed to open the port!\n");  

    printf("Press any key to terminate...\n");  

    getch();  

    return 0;  

  }  

  

  // Set port baudrate  

  if (portHandler->setBaudRate(BAUDRATE))  

  {  

    printf("Succeeded to change the baudrate!\n");  

  }  

  else  

  {  

    printf("Failed to change the baudrate!\n");  

    printf("Press any key to terminate...\n");  

    getch();  

    return 0;  

  }  

  

  // Trigger  

  printf("Press any key to reboot\n");  

  getch();  

  

  printf("See the Dynamixel LED flickering\n");  

  // Try reboot  

  // Dynamixel LED will flicker while it reboots  

  dxl_comm_result = packetHandler->reboot(portHandler, DXL_ID, &dxl_error);  

  if (dxl_comm_result != COMM_SUCCESS)  

  {  

    packetHandler->printTxRxResult(dxl_comm_result);  

  }  

  else if (dxl_error != 0)  

  {  

    packetHandler->printRxPacketError(dxl_error);  

  }  

  

  printf("[ID:%03d] reboot Succeeded\n", DXL_ID);  

  

  // Close port  

  portHandler->closePort();  

  

  return 0;  

}
```

--------------------------------

### Build and Run Example with CMake

Source: https://docs.robotis.com/docs/software/dynamixel_sdk/library_setup/c

Compile and execute an example project using the unified CMake build system.

```bash
$ cd DynamixelSDK/c/example/protocol2.0

$ sudo cmake -B build

$ sudo cmake --build build

$ cd build

$ ./broadcast_ping
```
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