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''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]''

== Overview ==
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The '''Dynamixel Workbench''' metapackage contains four packages: '''Single Manager''', '''Controllers''', '''Operators''', and '''Toolbox'''. The ''Single Manager'' package provides a program that can manage the entire Dynamixel series, including Dynamixel, Dynamixel X, and Dynamixel PRO, using the ''Toolbox'' library developed on the basis of [[dynamixel_sdk|Dynamixel SDK]]. These packages not only show the status of Dynamixel, but also allow you to change Control Table address values via command line or GUI interface. The ''Controllers ''package introduces how to employ the Dynamixel on different operating mode with Dynamixel Workbench library(''Toolbox'').  In addition, the ''Operators'' demonstrates some straightforward examples by operating ''Controllers''.

 * For configuring DYNAMIXEL, please use [[https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/|DYNAMIXEL Wizard 2.0]] instead of DYNAMIXEL Workbench.
 * [[http://wiki.ros.org/dynamixel_sdk|DYNAMIXEL SDK]] supports ROS. It is recommended to develop with DYNAMIXEL SDK for an optimized application.

== Supported Dynamixels ==
 ||<rowbgcolor="#FFFFE0">'''AX''' ||<style="text-align:center;">AX-12W ||<style="text-align:center;">AX-12/12+/12A ||<style="text-align:center;">AX-18F/18A ||
 ||<rowbgcolor="#FFFFE0">'''RX''' ||<style="text-align:center;">RX-10 ||<style="text-align:center;">RX-24F ||<style="text-align:center;">RX-28 ||<style="text-align:center;">RX-64 ||
 ||<rowbgcolor="#FFFFE0">'''EX''' ||<style="text-align:center;">EX-106+ ||
 ||<rowbgcolor="#FFFFE0">'''MX''' ||<style="text-align:center;">MX-12W ||<style="text-align:center;">MX-28, MX-28(2.0) ||<style="text-align:center;">MX-64, MX-64(2.0) ||<style="text-align:center;">MX-106, MX-106(2.0) ||
 ||<rowbgcolor="#FFFFE0">'''XL''' ||<style="text-align:center;">XL320 ||<style="text-align:center;">XL330-M077 ||<style="text-align:center;">XL330-M288 ||<style="text-align:center;">XL430-W250 ||
 ||<rowbgcolor="#FFFFE0">'''XC''' ||<style="text-align:center;">XC430-W150 ||<style="text-align:center;">XC430-W240 ||
 ||<rowbgcolor="#FFFFE0">'''XM''' ||<style="text-align:center;">XM430-W210 ||<style="text-align:center;">XM430-W350 ||<style="text-align:center;">XM540-W210 ||<style="text-align:center;">XM540-W270 ||
 ||<rowbgcolor="#FFFFE0">'''XH''' ||<style="text-align:center;">XH430-W210 ||<style="text-align:center;">XH430-W350 ||<style="text-align:center;">XH430-V210 ||<style="text-align:center;">XH430-V350 ||
 ||<rowbgcolor="#FFFFE0">'''XW''' ||<style="text-align:center;">XW540-T140-R ||<style="text-align:center;">XW540-T260-R ||
 ||<rowbgcolor="#FFFFE0">'''PRO-L''' ||<style="text-align:center;">L42-10-S300-R ||<style="text-align:center;">L54-30-S500-R ||<style="text-align:center;">L54-30-S400-R ||<style="text-align:center;">L54-50-S500-R ||<style="text-align:center;">L54-50-S290-R ||
 ||<rowbgcolor="#FFFFE0">'''PRO-M''' ||<style="text-align:center;">M42-10-S260-R ||<style="text-align:center;">M54-40-S250-R ||<style="text-align:center;">M54-60-S250-R ||
 ||<rowbgcolor="#FFFFE0">'''PRO-H''' ||<style="text-align:center;">H42-20-S300-R ||<style="text-align:center;">H54-100-S500-R ||<style="text-align:center;">H54-200-S500-R ||
 ||<rowbgcolor="#FFFFE0">'''P Series''' ||<style="text-align:center;">PH54-200-S500-R ||<style="text-align:center;">PH54-100-S500-R ||<style="text-align:center;">PH42-020-S300-R ||<style="text-align:center;">PM54-060-S250-R ||<style="text-align:center;">PM54-040-S250-R ||<style="text-align:center;">PM42-010-S260-R ||

 * Dual axle DYNAMIXEL products such as [[https://emanual.robotis.com/docs/en/dxl/x/2xl430-w250/|2XL430-W250-T]] or [[https://emanual.robotis.com/docs/en/dxl/x/2xc430-w250/|2XC430-W250-T]] are not fully supported.

== ROBOTIS e-Manual ==
 * [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/|ROBOTIS e-Manual for Dynamixel Workbench]]

== ROS Wiki related to related to Dynamixel Workbench ==
 * [[dynamixel_workbench]]
 * [[dynamixel_workbench_msgs]]
 * [[dynamixel_sdk]]
 * [[open_manipulator]]
 * [[opencr]]

== References related to Dynamixel Workbench ==
 * [[https://www.youtube.com/c/ROBOTISOpenSourceTeam|YouTube Channel of ROBOTIS OpenSourceTeam]]
 * [[https://community.robotsource.org/|Community for People Making Robots]]

== Video ==
<<Youtube(B2pnXtooKOg)>>