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add missed 3rd party dependencies: dynamixel; update README #33

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69d6d39
add missed 3rd party dependencies: dynamixel
Aug 25, 2025
5f74f9a
update readme
Aug 25, 2025
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20 changes: 18 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,15 @@ Building the packages requires the following dependencies:
- `sudo apt install -y cmake`
- build-essential
- `sudo apt install -y build-essential`
- [yaml-cpp-dev](https://launchpad.net/ubuntu/+source/yaml-cpp)
- `sudo apt install -y yaml-cpp-dev`
- [yaml-cpp-dev](https://launchpad.net/ubuntu/+source/yaml-cpp) etc.
- `sudo apt install -y udev libyaml-cpp-dev libspdlog-dev nlohmann-json3-dev`
- drogon
```sh
sudo apt install -y git gcc g++ cmake libjsoncpp-dev uuid-dev zlib1g-dev
cd ~/ && git clone https://github.com/drogonframework/drogon
cd drogon && git submodule update --init && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release .. && make && sudo make install
```

#### Building From Source

Expand All @@ -53,6 +60,15 @@ make
sudo make install
```

#### Setup Faster USB Access
```sh
sudo mkdir -p /etc/udev/rules.d
sudo vi /etc/udev/rules.d/99-dynamixel-usb.rules
# Paste the following content:
# U2D2 board (also sets latency timer to 1ms for faster communication)
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6014", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL", MODE:="0666", GROUP:="plugdev"
```

### Using ROS 2

#### Required Dependencies
Expand Down
7 changes: 6 additions & 1 deletion wx_armor/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
# │ Dependencies │
# └─────────────────┘

# Add third-party libraries
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../third_party_libraries/DynamixelSDK DynamixelSDK)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../third_party_libraries/dynamixel-workbench dynamixel-workbench)

find_package(yaml-cpp REQUIRED)
find_package(spdlog REQUIRED)
find_package(nlohmann_json REQUIRED)
Expand Down Expand Up @@ -52,6 +56,7 @@ target_sources(wx_armor_driver
target_link_libraries(wx_armor_driver PUBLIC
robot_profile
dynamixel_workbench_toolbox
dynamixel_sdk
spdlog::spdlog
nlohmann_json::nlohmann_json
yaml-cpp)
Expand Down Expand Up @@ -102,7 +107,7 @@ install(FILES
DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})

install(
TARGETS robot_profile wx_armor_driver wx_armor_ws wx_armor guardian_thread
TARGETS robot_profile wx_armor_driver wx_armor_ws wx_armor guardian_thread dynamixel_workbench_toolbox dynamixel_sdk
EXPORT ${PROJECT_NAME}_Targets
FILE_SET HEADERS)

Expand Down