Merge pull request ROBOTIS-GIT#567 from ROBOTIS-GIT/ros2-devel

prepare for humble release

Author: ROBOTIS-Will

.github/ISSUE_TEMPLATE.md

@@ -1,64 +1,50 @@
-ISSUE TEMPLATE ver. 1.1.1
+ISSUE TEMPLATE ver. 1.2.0
 
+Please **search for similar issues first** with a specific keyword in your error message.  
+Any redundant issue thread may be redirected and closed without prior notice.
 
+1. Please specify the version of DYNAMIXEL SDK
 
 
 
+2. Please specify the programming language
+- [ ] C
+- [ ] C++
+- [ ] C#
+- [ ] Python
+- [ ] Java
+- [ ] MATLAB
+- [ ] LabVIEW
+- [ ] ROS
+- [ ] etc (specify here)
 
+3. Please specify the DYNAMIXEL model
 
 
-BE CAREFUL!! FOLLOW THE RULES AS FOLLOWS, OR YOUR ISSUE WILL BE `WON'T FIX` ANYWAY
 
+4. Please specify the communication interface
+- [ ] None
+- [ ] U2D2
+- [ ] OpenCR + usb_to_dxl firmware
+- [ ] OpenCM9.04
+- [ ] OpenRB-150
+- [ ] etc (specify here)
 
 
+5. Please specify the OS
+- [ ] None
+- [ ] Windows
+- [ ] Mac OS
+- [ ] Linux
+- [ ] etc (specify here)
 
+6. Please specify the controller
+- [ ] PC / Laptop
+- [ ] Embedded SBC (Raspberry Pi, Jetson, etc)
+- [ ] etc (specify here)
 
+7. Please describe the issue in detail.
 
 
 
-
-STEP 1. Check what you are suffering from :
-
-- I'm using `DynamixelSDK ver. 3.5.4`
-
-  - [3.4.1], [3.5.2], etc.
-
-- I'm using `C++` Language
-
-  - [C] / [C++] / [C#] / [Python] / [Java] / [MATLAB] / [LABVIEW] / [ROS] / [Arduino]
-
-- I'm using `USB2Dynamixel2` serial converter
-
-  - [USB2Dynamixel] / [USB2Dynamixel2] or [OpenCM904] / [OpenCR] / [CM700s] / [CM500s] or other ROBOTIS product only
-
-- I'm using `XM430-W210-R`
-
-  - [MX-28], [AX-12W], [H54-200W], etc.
-
-- and I'm having an `issue` like what
-
-  - 'My motor doesn't work', etc.
-
-
-STEP 2. Write `Title` as `[3.5.4][C++][USB2Dynamixel2][XM430-W210-R] Issue : My motor doesn't work`
-
-- Now, if you think :
-
-  - Hey, I'm using RoboPlus2.0, and having an issue, but how can I write that kind of `Title`?
-
-  - Hey, I'm using USB2AX serial converter, and having an issue, but how can I write that kind of `Title`?
-
-  - or more that is not listed on above.
-
-- , You should write your `issue` on http://en.robotis.com/BlueAD/board.php?bbs_id=old_qna
-
-
-STEP 3. Delete all written here, and describe what your problem is
-
-- Any PICTURES or VIDEOS?
-
-  ![](　Link the PICTURES or VIDEOS here, if necessary　)
-
-- Any SOURCE SAMPLES?
-
-  [](　Link the SOURCE SAMPLES here, if necessary　)
+8. How this issue can be resolved?

.github/workflows/ros-ci.yml

@@ -3,9 +3,9 @@ name: ros2-ci
 # Controls when the action will run. Triggers the workflow on push or pull request
 on:
   push:
-    branches: [ ros2, ros2-devel, foxy, galactic ]
+    branches: [ ros2, ros2-devel, foxy-devel, galactic-devel, humble-devel ]
   pull_request:
-    branches: [ ros2, ros2-devel, foxy, galactic ]
+    branches: [ ros2, ros2-devel, foxy-devel, galactic-devel, humble-devel ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -18,6 +18,7 @@ jobs:
           # - dashing
           - foxy
           - galactic
+          - humble
           - rolling
         include:
             # Dashing Diademata (May 2019 - May 2021)
@@ -32,8 +33,12 @@ jobs:
           - docker_image: ubuntu:focal
             ros_distribution: galactic
             ros_version: 2
+            # Humble Hawksbill (May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
             # Rolling
-          - docker_image: ubuntu:focal
+          - docker_image: ubuntu:jammy
             ros_distribution: rolling
             ros_version: 2
     container:
@@ -42,15 +47,15 @@ jobs:
       - name: Setup directories
         run: mkdir -p ros_ws/src
       - name: checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           path: ros_ws/src
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.2.1
+        uses: ros-tooling/setup-ros@0.3.3
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@0.2.5
         with:
           package-name: dynamixel_sdk
           target-ros2-distro: ${{ matrix.ros_distribution }}

README.md

@@ -3,6 +3,8 @@
 [![noetic-devel Status](https://github.com/ROBOTIS-GIT/DynamixelSDK/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/noetic-devel)
 [![dashing-devel Status](https://github.com/ROBOTIS-GIT/DynamixelSDK/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/dashing-devel)
 [![foxy-devel Status](https://github.com/ROBOTIS-GIT/DynamixelSDK/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/foxy-devel)
+[![galactic-devel Status](https://github.com/ROBOTIS-GIT/DynamixelSDK/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/galactic-devel)
+[![humble-devel Status](https://github.com/ROBOTIS-GIT/DynamixelSDK/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/DynamixelSDK/tree/humble-devel)
 
 <img src="http://emanual.robotis.com/assets/images/sw/sdk/dynamixel_sdk/overview/dynamixel_sdk_concept_logo.jpg">
 

dynamixel_sdk/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.60 (2022-06-03)
+-------------------
+* ROS2 Humble Hawksbill supported
+
 3.7.40 (2021-04-14)
 -------------------
 * Add ROS 2 basic example

dynamixel_sdk/CMakeLists.txt

@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.5)
 project(dynamixel_sdk)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

dynamixel_sdk/package.xml

@@ -2,20 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_sdk</name>
-  <version>3.7.40</version>
+  <version>3.7.60</version>
   <description>
     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.
   </description>
   <license>Apache 2.0</license>
-  <author email="[email protected]">Pyo</author>
-  <author email="[email protected]">Darby Lim</author>
-  <author email="[email protected]">Zerom</author>
-  <author>Leon</author>
   <maintainer email="[email protected]">Will Son</maintainer>
   <url type="website">http://wiki.ros.org/dynamixel_sdk</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/DynamixelSDK/issues</url>
+  <author email="[email protected]">Pyo</author>
+  <author email="[email protected]">Darby Lim</author>
+  <author email="[email protected]">Zerom</author>
+  <author>Leon</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <export>
     <build_type>ament_cmake</build_type>

dynamixel_sdk_custom_interfaces/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package dynamixel_sdk_custom_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.60 (2022-06-03)
+-------------------
+* ROS2 Humble Hawksbill supported
+
 3.7.40 (2021-04-14)
 -------------------
 * Add ROS 2 basic example

dynamixel_sdk_custom_interfaces/CMakeLists.txt

@@ -1,14 +1,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(dynamixel_sdk_custom_interfaces)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

dynamixel_sdk_custom_interfaces/package.xml

@@ -2,16 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_sdk_custom_interfaces</name>
-  <version>3.7.40</version>
+  <version>3.7.60</version>
   <description>ROS2 custom interface examples using ROBOTIS DYNAMIXEL SDK</description>
-  <maintainer email="[email protected]">willson</maintainer>
-  <license>Apache 2.0</license>
-  <author email="[email protected]">Will Son</author>
   <maintainer email="[email protected]">Will Son</maintainer>
+  <license>Apache 2.0</license>
   <url type="website">http://wiki.ros.org/dynamixel_sdk</url>
-  <url type="emanual">http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/DynamixelSDK</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/DynamixelSDK/issues</url>
+  <author email="[email protected]">Will Son</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <build_depend>builtin_interfaces</build_depend>

dynamixel_sdk_examples/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package dynamixel_sdk_examples
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.60 (2022-06-03)
+-------------------
+* ROS2 Humble Hawksbill supported
+
 3.7.40 (2021-04-14)
 -------------------
 * Add ROS 2 basic example