Linux SBC environments, Linux 32-bit platforms, and ROS 2#672
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Signed-off-by: Hyungyu Kim <kimhg@robotis.com>
Signed-off-by: Hyungyu Kim <kimhg@robotis.com>
…forms, and ROS 2 based build and deployment workflows
Summary of ChangesHello @GyuH13, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request enhances the Dynamixel Easy SDK by extending its reach to Linux SBC and 32-bit Linux environments, alongside a crucial integration with the ROS 2 ament build system. These changes aim to improve the SDK's versatility and ease of use for developers working with embedded systems and modern robotics frameworks, ensuring broader hardware and software compatibility. Highlights
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Pull request overview
This PR enables the Dynamixel Easy SDK for Linux SBC environments, Linux 32-bit platforms, and ROS 2 (ament-based) build systems. Key changes include updating Makefiles for broader Linux platform support, modifying ROS 2 package configuration for ament_cmake-based builds, and adding control table files to support ROS binary distribution.
- Updated Makefile to add C++17 standard flag for Linux 64-bit builds
- Modified ROS 2 CMakeLists.txt to build and install the Easy SDK with control table files
- Added comprehensive control table model files for various Dynamixel motor models
- Incremented version from 4.0.2 to 4.0.3 across all package manifests
Reviewed changes
Copilot reviewed 94 out of 94 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| ros/dynamixel_sdk/CMakeLists.txt | Added Easy SDK source files, control table installation, and compile definition for control table path |
| ros/dynamixel_sdk/src/dynamixel_easy_sdk/*.cpp | Added new Easy SDK implementation files (motor, connector, group_executor, control_table, dynamixel_error) |
| ros/dynamixel_sdk/include/dynamixel_easy_sdk/*.hpp | Added new Easy SDK header files defining interfaces for motor control, error handling, and data types |
| ros/dynamixel_sdk/control_table/*.model | Added control table model files for all supported Dynamixel motor models |
| c++/build/linux64/Makefile | Added C++17 standard flag to support Easy SDK features |
| ros/dynamixel_sdk/package.xml | Updated version to 4.0.3 and added new author |
| python/setup.py, python/pyproject.toml | Updated version to 4.0.3 and added new author |
| ReleaseNote.md, Doxyfile, CHANGELOG.rst | Updated version and release notes |
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Code Review
This pull request introduces a significant and well-designed C++ wrapper, the 'Easy SDK', for the Dynamixel SDK, enhancing usability with modern C++ features like Result types for error handling and a fluent API for group commands. It also extends support to Linux SBCs, 32-bit Linux platforms, and improves ROS 2 integration. My review focuses on ensuring build consistency across platforms and improving the design and clarity of the new API. I've identified a critical build issue for SBCs, a metadata inconsistency, and a couple of design points in the new API concerning constructor responsibilities and state caching that could be improved for robustness and performance.
3 participants
Summary
This PR enables the Dynamixel Easy SDK to support Linux SBC environments, Linux 32-bit platforms, and ROS 2 (ament-based) build systems.
Changes
Updated the Makefiles to allow building the Easy SDK on Linux SBC and Linux 32-bit environments.
Modified the ROS 2 package CMakeLists.txt to build and install the Easy SDK using ament_cmake.
Added the control table to the ROS 2 package. (for supporting ROS distribution and binary (distro) deployment.)
Testing
Linux SBC: Tested on Raspberry Pi 5.
Linux 32-bit: Tested in an Ubuntu 18.04 32-bit Docker environment.
ROS 2 support: Tested both CMake-based builds and colcon-based builds.