<<PackageHeader(dynamixel_workbench_single_manager_gui)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/|ROBOTIS e-Manual for Dynamixel-Workbench]]

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
name= single_dynamixel_monitor

pub{
  0{
   name= dynamixel/XM
   type= dynamixel_workbench_msgs/XM
   desc= Provides all states for connected Dynamixel by reading [[http://emanual.robotis.com/docs/en/dxl/x/xm430-w350/|control table]].
  }
}

srv{
  0{
    name= dynamixel/command
    type= dynamixel_workbench_msgs/DynamixelCommand
    desc= Receive commands and write value to control table of connected Dynamixel
  }
}

srv{
  1{
    name= dynamixel/info
    type= dynamixel_workbench_msgs/GetDynamixelInfo
    desc= Get information about connected Dynamixel(id, baudrate, ...)
  }
}

}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name= single_dynamixel_controller

srv{
  0{
    name= dynamixel/command
    type= dynamixel_workbench_msgs/DynamixelCommand
    desc= Get command to write value for control Dynamixel
  }
}

srv{
  1{
    name= dynamixel/info
    type= dynamixel_workbench_msgs/GetDynamixelInfo
    desc= Send information about connected Dynamixel(id, baudrate, ...)
  }
}

}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name= single_manager_gui

}
}}}

== Tutorials ==
* [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#gui|Single Manager GUI Tutorials]] 
- This tutorial describes how to start single manager and control address in linked Dynamixel using GUI