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Merge pull request ROBOTIS-GIT#481 from ROBOTIS-GIT/ros2-devel
Ros2 devel
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‎.github/workflows/ros-ci.yml‎

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name: ros2-ci
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# Controls when the action will run. Triggers the workflow on push or pull request
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on:
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push:
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branches: [ ros2, ros2-devel ]
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pull_request:
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branches: [ ros2, ros2-devel ]
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# A workflow run is made up of one or more jobs that can run sequentially or in parallel
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jobs:
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ros2-ci:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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ros_distribution:
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- dashing
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- foxy
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# - galactic
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- rolling
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include:
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# Dashing Diademata (May 2019 - May 2021)
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- docker_image: ubuntu:bionic
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ros_distribution: dashing
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ros_version: 2
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# Foxy Fitzroy (June 2020 - May 2023)
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- docker_image: ubuntu:focal
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ros_distribution: foxy
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ros_version: 2
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# Galactic Geochelone (May 2021)
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# - docker_image: ubuntu:focal
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# ros_distribution: galactic
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# ros_version: 2
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# Rolling
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- docker_image: ubuntu:focal
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ros_distribution: rolling
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ros_version: 2
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- name: Setup directories
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run: mkdir -p ros_ws/src
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- name: checkout
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uses: actions/checkout@v2
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with:
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path: ros_ws/src
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- name: Setup ROS environment
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uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/[email protected]
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with:
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package-name: dynamixel_sdk
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target-ros2-distro: ${{ matrix.ros_distribution }}
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vcs-repo-file-url: ""

‎.travis.yml‎

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‎dynamixel_sdk/CHANGELOG.rst‎

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Changelog for package dynamixel_sdk
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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3.7.40 (2021-04-14)
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------------------
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* Add ROS 2 basic example
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* Bug fix
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* Contributors: Will Son
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3.7.30 (2020-07-13)
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------------------
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* ROS 2 Eloquent Elusor supported

‎dynamixel_sdk/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dynamixel_sdk</name>
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<version>3.7.30</version>
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<version>3.7.40</version>
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<description>
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This package is wrapping version of ROBOTIS Dynamixel SDK for ROS 2. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms.
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</description>

‎dynamixel_sdk/src/dynamixel_sdk/group_bulk_read.cpp‎

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// TODO : check protocol version, last_result_, data_list
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// if (last_result_ == false || error_list_.find(id) == error_list_.end())
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return error[0] = error_list_[id][0];
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return (error[0] = error_list_[id][0]);
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}

‎dynamixel_sdk/src/dynamixel_sdk/group_sync_read.cpp‎

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// TODO : check protocol version, last_result_, data_list
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// if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || error_list_.find(id) == error_list_.end())
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return error[0] = error_list_[id][0];
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return (error[0] = error_list_[id][0]);
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}

‎dynamixel_sdk_custom_interfaces/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(dynamixel_sdk_custom_interfaces)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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set(msg_files
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"msg/SetPosition.msg"
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)
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set(srv_files
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"srv/GetPosition.srv"
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)
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rosidl_generate_interfaces(${PROJECT_NAME}
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${msg_files}
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${srv_files}
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DEPENDENCIES builtin_interfaces
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()

‎dynamixel_sdk_custom_interfaces/msg/SetPosition.msg‎

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# Messages
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uint8 id
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int32 position

‎dynamixel_sdk_custom_interfaces/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dynamixel_sdk_custom_interfaces</name>
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<version>0.1.0</version>
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<description>ROS2 custom interface examples using ROBOTIS DYNAMIXEL SDK</description>
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<maintainer email="[email protected]">willson</maintainer>
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<license>Apache 2.0</license>
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<author email="[email protected]">Will Son</author>
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<maintainer email="[email protected]">Will Son</maintainer>
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<url type="website">http://wiki.ros.org/dynamixel_sdk</url>
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<url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/</url>
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<url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>
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<url type="bugtracker">https://github.com/ROBOTIS-GIT/DynamixelSDK/issues</url>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎dynamixel_sdk_custom_interfaces/srv/GetPosition.srv‎

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# Constants
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# Request
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uint8 id
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---
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# Response
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int32 position

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