Beginner (Setting Up)

1. Connecting to Dynamixel bus

   This tutorial describes how to connect and examine raw feedback from Robotis Dynamixel servos.

2. Creating a meta controller

   Meta controller is an action server that allows you to group up any number of motors and control it by an action client.

3. Setting up Dynamixel

   This tutorial should help beginners to get used to Dynamixel and how to set it's parameters in order to control it.

Intermediate (Motor Control)

1. Creating a joint controller

   This tutorial describes how to create a joint controller with one or more Robotis Dynamixel motors.

2. Creating a dual joint position controller

   This tutorial describes how to create a dual joint position controller with a Robotis Dynamixel motors.

3. Creating a joint torque controller

   This tutorial describes how to create a joint torque controller with a Robotis Dynamixel motor.

4. Creating a dual joint torque controller

   This tutorial describes how to create a dual joint torque controller with a Robotis Dynamixel motors.

5. Creating a multi turn joint controller

   This tutorial describes how to configure the joint controller to multi turn mode.

6. Creating a dynamixel action client controller

   This tutorial describes how to create a joint controller with one or more Robotis Dynamixel motors.

Advanced (Robotics)

1. Controlling the PhantomX Pincher Robot Arm

   This tutorial shows how to control the PhantomX Pincher Robot Arm with ROS via FTDI.

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