Setup

sudo apt update
sudo apt install -y python3-serial ros-${ROS_DISTRO}-dynamixel-sdk

Cloning

If you are adding this repo into a ROS 2 colcon workspace:

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone --recurse-submodules https://github.com/CollaborativeRoboticsLab/grippers.git

From the root of your colcon workspace:

cd ~/colcon_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro "$ROS_DISTRO"

Most USB serial adapters require your user to be in dialout:

sudo usermod -a -G dialout $USER

Log out/in after changing groups.

cd ~/colcon_ws
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install