Build dynamixel_workbench_toolbox example programs for ROS?

[pdenes]

Hi, I built dynamixel_workbench successfully from the ros2 branch with colcon. I noticed the build instructions for the programs in dynamixel_workbench_toolbox/examples assume you install the SDK first, without ROS, into /usr/local. These test programs seem very useful when using the servos the first time and exploring the whole software stack. Would it be possible to include these in the ROS build too (or provide instructions)?

I couldn't figure out how to do this "properly", but with some local modifications to the existing CMakeLists.txt I could compile them using the instructions (I had the sdk checked out next to this, in the same workspace, and previously built with colcon, together with workbench):

I added this:

include_directories(../../../install/dynamixel_sdk/include/)
link_directories(../../../install/dynamixel_sdk/lib)

...and changed target_link_libraries(dynamixel_workbench LINK_PUBLIC "/usr/local/lib/libdxl_x64_cpp.so") to target_link_libraries(dynamixel_workbench LINK_PUBLIC dynamixel_sdk)