Update ReadMe.md

parent eed4beeb
......@@ -3,7 +3,7 @@ Dynamixel {#mainpage}
## Description
This library provide a server to handle all the devices connected to a Dynamixel Bus and also low level read and write functions to access each one of this devices.
This library provides a server to handle all the devices connected to a Dynamixel Bus and also low level read and write functions to access each one.
The server allows to:
......@@ -21,14 +21,43 @@ For each device, the following operations are provided:
- Broadcast a command to several devices.
## Installation
* Add the labrobotica repository if it is not already added:
``` sudo sh -c 'echo "deb [arch=amd64] http://147.83.76.226/~irilabo/packages xenial main" > /etc/apt/sources.list.d/labrobotica_repo.list' ```
``` wget -O - http://147.83.76.226/~irilabo/labrobotica_repo.gpg.key | sudo apt-key add - ```
* Install the package:
``` sudo apt update && sudo apt install iri-dynamixel-dev ```
## Disclaimer
Copyright (C) 2009-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
## For developers
<details><summary>click here</summary>
<p>
## Dependencies
This package requires of the following system libraries and packages
* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
* [XSD](http://wiki.codesynthesis.com/XSD "XSD wiki main page") to enable XML support.
* stdc++ and pthread libraries.
* xsdcxx, W3C XML Schema to C++ Compiler
Under linux all of these utilities are available in ready-to-use packages.
......@@ -40,9 +69,9 @@ This package also requires of the following IRI libraries:
* [comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm "comm gitlab page"), a set of basic communication drivers.
## Compilation and installation
## Compilation and installation from source
Download this repository and create a build folder inside:
Clone this repository and create a build folder inside:
``` mkdir build ```
......@@ -67,9 +96,10 @@ To do that, execute
``` make install ```
as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
and the header files will be copied to */usr/local/include/iridrivers* directory. At
this point, the library may be used by any user.
as root and the shared libraries will be copied to */usr/local/lib/iri/dynamixel* directory
and the header files will be copied to */usr/local/include/iri/dynamixel* dierctory. If the
support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/dynamixel/xml*.
At this point, the library may be used by any user.
To remove the library from the system, exceute
......@@ -85,25 +115,21 @@ To generate the documentation execute the following command:
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
``` FIND_PACKAGE(project_name) ```
``` FIND_PACKAGE(dynamixel) ```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
``` INCLUDE_DIRECTORIES(${project_name_INCLUDE_DIR}) ```
``` INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR}) ```
and it is also necessary to link with the desired libraries by using the following command
``` TARGET_LINK_LIBRARIES(<executable name> ${project_name_LIBRARY}) ```
``` TARGET_LINK_LIBRARIES(<executable name> ${dynamixel_LIBRARY}) ```
## Disclaimer
Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer author_name (author_email)
## Examples
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
There are several examples that show how to use the different classes.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
</p>
</details>
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
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