For some reason the Dynamixel installation for ROS Indigo give me some (annoying) errors when I try to use the joint_trajectory_action, even when I get the trajectory working on the motors. So I performed an installation from this github repo.
You can just clone the repo in your project’s workspace src folder as a package and compile, but I wanted to have a system installation (at /opt/ros) in order to have one solution for all future projects.
First you need to create a catkin workspace for Dynamixel, organize the folders to get it compiling with catkin_make.
After that, go to the workspace:
$ cd dynamixel_ws
You need permissions to install it on /opt/ros:
# sudo su
And the environment variables:
# source devel/setup.bash
So you can perform the installation:
# catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo install
After that you have a system installation for your dynamixel pkg.
All the best!
Source:
http://wiki.ros.org/catkin/commands/catkin_make