dynamixel_motor support for protocol 2.0
Has anyone transitioned from protocol 1.0 to 2.0 following recent firmware upgrades? I'm currently using MX-64T's with the dynamixel_motor stack, but I'm trying to understand what upgrading to protocol 2.0 would entail. Is this as simple as updating the control table addresses in dynamixel_const.py? Or would it be best to incorporate the official Robotis DynamixelSDK package in place of the dynamixel_driver package?
Any advice is appreciated!