Doc

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+# Generated content of the documentation
+_build/
+doxygen_doc/
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README.rst

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+libdynamixel
+============
+libdynamixel is a C++11, header-only interface to the `Dynamixel <http://en.robotis.com/index/product.php?cate_code=101010>`_ actuators that aims at being lightweight and highly flexible. This library is NOT the `official dynamixel SDK provided by Robotis <https://github.com/ROBOTIS-GIT/DynamixelSDK>`_, but it provides a similar service.
+
+This library is for Unix-like systems (GNU/Linux and Mac OSX)
+
+We also provide a simple command-line tool that allows to change the IDs, the baudrate, the control mode, the position, etc.
+
+Main features
+===============
+
+* Support for Dynamixel series AX, MX, EX, XL and Pro
+* Support for all instructions and messages of both version 1 and 2 of the Dynamixel communication protocol (including torque control, speed control, etc.)
+* Full C++11 API
+* An optional ROS interface (hardware interface) is available in a separate repository (`dynamixel_control_hw <https://github.com/resibots/dynamixel_control_hw/>`_).
+
+`Documentation <http://www.resibots.eu/libdynamixel>`_
+==============
+The full documentation (including tutorials, guides, and API) is available on the `ResiBots website <http://www.resibots.eu/libdynamixel>`_
+
+
+Projects using this library
+===========================
+
+.. image:: doc/pics/three_robots.png
+   :alt: ResiBots Robots
+   :align: center
+
+
+This library is used in most of the robots designed in ERC project `ResiBots <http://www.resibots.eu/photos.html>`_ (funded by the European Research Council), in particular :
+
+* several 18-DOFs hexapod robots (based on MX-28 actuators);
+* a mobile manipulator based on Dynamixel Pro actuators and the Kuka Youbot (omnidirectionnal platform);
+* a wheel-legged hybrid robot (based on MX-128 actuators);
+* several small arms (based on Crustcrawler kits and MX actuators).
+
+*We would be pleased to hear from you if you use this library in one of your projects.*
+
+Scientific publications
+-----------------------
+This library has been used in many scientific publications, in particular:
+
+* Cully, A., Clune, J. Tarapore, D. and Mouret, J.-B.. "Robots that can adapt like animals." *Nature* 521, no. 7553 (2015): 503-507.
+* Cully, A., and J-B. Mouret. "Evolving a Behavioral Repertoire for a Walking Robot." Evolutionary computation (2016).
+* Koos, S. and Cully, A. and Mouret, J.-B. (2013). "Fast Damage Recovery in Robotics with the T-Resilience Algorithm". *International Journal of Robotics Research*. Vol 32 No 14 Pages 1700-1723.
+* Koos, S. and Mouret, J.-B. and Doncieux, S. (2013). "The Transferability Approach: Crossing the Reality Gap in Evolutionary Robotics". *IEEE Transactions on Evolutionary Computation*. Vol 17 No 1 Pages 122 - 145
+* Koos, S. and Mouret, J-B. (2011). "Online Discovery of Locomotion Modes for Wheel-Legged Hybrid Robots: a Transferability-based Approach". *Proceedings of CLAWAR*, World Scientific Publishing Co., publisher. Pages 70-77.
+* Koos, S. and Mouret, J.-B. and Doncieux, S. (2010). "Crossing the Reality Gap in Evolutionary Robotics by Promoting Transferable Controllers". *GECCO'10: Proceedings of the 12th annual conference on Genetic and evolutionary computation* ACM, publisher . Pages 119--126.
+
+*Please let us know if you use this library in a scientific publication.*
+
+Building
+========
+Dependencies :
+
+* python2.x
+* C++
+* Boost C++
+
+.. highlight:: shell
+
+The build system for this library is Waf. Don't run away yet. It has the big advantage of requiring no more than Python installed on your computer. If you run a GNU/Linux OS or Mac OS, you should already have it. Here is how we compile and install it:
+
+1. configuration
+    run ``./waf configure`` and add ``--prefix PATH/TO/INSTALL`` if you want to install it to a specific location
+2. compilation
+    is as easy as ``./waf``
+3. installation
+    is simply done with ``./waf install``, with the required rights (might need sudo if you install globally)
+4. setup the proper authorisation
+    please ensure that you have the proper rights to access the serial interfaces. On GNU/Linux, you might have to add your user to the `dialout` group and log out.
+
+You get the ``dynamixel`` toolset and the demo programms compiled in the ``build/default/src`` folder.
+
+Support
+=======
+This library is actively used and regularly developped. If you need some help, feel free to `fill an issue <https://github.com/resibots/libdynamixel/issues/new>`_ on this repository. We'll do our best to be responsive.
+
+Alternative software
+====================
+
+* Inria FLOWERS team developped `pybot <http://poppy-project.github.io/poppy-docs/pypot/doc/index.html>`_, a python library to control a Dynamixel-based robot.
+* The official `Robotis SDK <https://github.com/ROBOTIS-GIT/DynamixelSDK>`_.
+
+License and authors
+===================
+This work is distributed under the terms of the `CeCILL-C <http://www.cecill.info/licences.en.html>`_ license. © UPMC and Inria.
+
+The authors for this library are Jean-Baptiste Mouret, Antoine Cully, Federico Allocati and Dorian Goepp.