Linux SBC environments, Linux 32-bit platforms, and ROS 2

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "DynamixelSDK c++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.2
+PROJECT_NUMBER         = 4.0.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

ReleaseNote.md

@@ -1,5 +1,10 @@
 # Dynamixel SDK Release Notes
 
+4.0.3 (2025-12-17)
+------------------
+* Dynamixel Easy SDK supports Linux SBC environments, Linux 32-bit platforms, and ROS 2 based build and deployment workflows
+* Contributors: Hyungyu Kim
+
 4.0.2 (2025-11-24)
 ------------------
 * Easy SDK Python update

c++/build/linux32/Makefile

@@ -35,10 +35,12 @@ SYMLINK     = ln -s
 MKDIR       = mkdir
 CC          = gcc
 CX          = g++
-CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g
-CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g
-FORMAT      = -m32
+CONTROL_TABLE_PATH_FLAG = -DCONTROL_TABLE_PATH=\"$(INSTALL_ROOT)/share/dynamixel_sdk/control_table\"
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
+FORMAT      = -m32 -std=c++17
 INCLUDES    += -I$(DIR_DXL)/include/dynamixel_sdk
+INCLUDES    += -I$(DIR_DXL)/include
 
 #---------------------------------------------------------------------
 # Required external libraries
@@ -60,6 +62,11 @@ SOURCES  = src/dynamixel_sdk/group_bulk_read.cpp \
            src/dynamixel_sdk/protocol1_packet_handler.cpp \
            src/dynamixel_sdk/protocol2_packet_handler.cpp \
            src/dynamixel_sdk/port_handler_linux.cpp \
+           src/dynamixel_easy_sdk/connector.cpp \
+           src/dynamixel_easy_sdk/control_table.cpp \
+           src/dynamixel_easy_sdk/motor.cpp \
+           src/dynamixel_easy_sdk/dynamixel_error.cpp \
+           src/dynamixel_easy_sdk/group_executor.cpp
 
 
 OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
@@ -88,6 +95,12 @@ install: $(TARGET)
     # copy the headers into the include directory
 	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_sdk
 	$(CP_ALL) $(DIR_DXL)/include/dynamixel_sdk/* $(INSTALL_ROOT)/include/dynamixel_sdk/
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_easy_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+	$(CP_ALL) $(DIR_DXL)/include/dynamixel_easy_sdk/* $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+
+    # copy the control_table directory into the share directory
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/share/dynamixel_sdk || $(MKDIR) -p $(INSTALL_ROOT)/share/dynamixel_sdk
+	$(CP_ALL) $(DIR_DXL)/../control_table $(INSTALL_ROOT)/share/dynamixel_sdk/
 
 	$(LD_CONFIG)
 
@@ -99,6 +112,8 @@ uninstall:
 
 	$(RM) $(INSTALL_ROOT)/include/dynamixel_sdk/dynamixel_sdk.h
 	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_easy_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/share/dynamixel_sdk/control_table
 
 reinstall: uninstall install
 
@@ -119,6 +134,9 @@ $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.c
 $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.cpp
 	$(CX) $(CXFLAGS) -c $? -o $@
 
+$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_easy_sdk/%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
 #---------------------------------------------------------------------
 # END OF MAKEFILE
 #---------------------------------------------------------------------

c++/build/linux64/Makefile

@@ -38,7 +38,7 @@ CX          = g++
 CONTROL_TABLE_PATH_FLAG = -DCONTROL_TABLE_PATH=\"$(INSTALL_ROOT)/share/dynamixel_sdk/control_table\"
 CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
 CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) $(FORMAT) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
-FORMAT     = -m64
+FORMAT     = -m64 -std=c++17
 INCLUDES    += -I$(DIR_DXL)/include/dynamixel_sdk
 INCLUDES    += -I$(DIR_DXL)/include
 

c++/build/linux_sbc/Makefile

@@ -35,9 +35,11 @@ SYMLINK     = ln -s
 MKDIR       = mkdir
 CC          = gcc
 CX          = g++
-CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g
-CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g
+CONTROL_TABLE_PATH_FLAG = -DCONTROL_TABLE_PATH=\"$(INSTALL_ROOT)/share/dynamixel_sdk/control_table\"
+CCFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
+CXFLAGS     = -O2 -O3 -DLINUX -D_GNU_SOURCE -Wall -c $(INCLUDES) -fPIC -g $(CONTROL_TABLE_PATH_FLAG)
 INCLUDES    += -I$(DIR_DXL)/include/dynamixel_sdk
+INCLUDES    += -I$(DIR_DXL)/include
 
 #---------------------------------------------------------------------
 # Required external libraries
@@ -59,6 +61,11 @@ SOURCES  = src/dynamixel_sdk/group_bulk_read.cpp \
            src/dynamixel_sdk/protocol1_packet_handler.cpp \
            src/dynamixel_sdk/protocol2_packet_handler.cpp \
            src/dynamixel_sdk/port_handler_linux.cpp \
+           src/dynamixel_easy_sdk/connector.cpp \
+           src/dynamixel_easy_sdk/control_table.cpp \
+           src/dynamixel_easy_sdk/motor.cpp \
+           src/dynamixel_easy_sdk/dynamixel_error.cpp \
+           src/dynamixel_easy_sdk/group_executor.cpp
 
 
 OBJECTS=$(addsuffix .o,$(addprefix $(DIR_OBJS)/,$(basename $(notdir $(SOURCES)))))
@@ -86,7 +93,14 @@ install: $(TARGET)
 
     # copy the headers into the include directory
 	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_sdk
-	$(CP_ALL) $(DIR_DXL)/include/dynamixel_sdk/* $(INSTALL_ROOT)/include/dynamixel_sdk/
+	$(CP_ALL) $(DIR_DXL)/include/dynamixel_sdk/* $(INSTALL_ROOT)/include/dynamixel_sdk
+
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/include/dynamixel_easy_sdk || $(MKDIR) $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+	$(CP_ALL) $(DIR_DXL)/include/dynamixel_easy_sdk/* $(INSTALL_ROOT)/include/dynamixel_easy_sdk
+
+    # copy the control_table directory into the share directory
+	@$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/share/dynamixel_sdk || $(MKDIR) -p $(INSTALL_ROOT)/share/dynamixel_sdk
+	$(CP_ALL) $(DIR_DXL)/../control_table $(INSTALL_ROOT)/share/dynamixel_sdk/
 
 	$(LD_CONFIG)
 
@@ -98,6 +112,8 @@ uninstall:
 
 	$(RM) $(INSTALL_ROOT)/include/dynamixel_sdk/dynamixel_sdk.h
 	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/include/dynamixel_easy_sdk/*
+	$(RM_ALL) $(INSTALL_ROOT)/share/dynamixel_sdk/control_table
 
 reinstall: uninstall install
 
@@ -118,6 +134,9 @@ $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.c
 $(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_sdk/%.cpp
 	$(CX) $(CXFLAGS) -c $? -o $@
 
+$(DIR_OBJS)/%.o: $(DIR_DXL)/src/dynamixel_easy_sdk/%.cpp
+	$(CX) $(CXFLAGS) -c $? -o $@
+
 #---------------------------------------------------------------------
 # END OF MAKEFILE
 #---------------------------------------------------------------------

python/pyproject.toml

@@ -4,13 +4,14 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "dynamixel-sdk"
-version = "4.0.2"
+version = "4.0.3"
 description = "Dynamixel SDK 4. python package"
 readme = "README.txt"
 license = { text = "Apache 2.0" }
 authors = [
     { name = "Leon Jung", email = "rwjung@robotis.com" },
-    { name = "Wonho Yun", email = "ywh@robotis.com" }
+    { name = "Wonho Yun", email = "ywh@robotis.com" },
+    { name = "Hyungyu Kim", email = "kimhg@robotis.com" }
 ]
 dependencies = [
     "pyserial",

python/setup.py

@@ -6,14 +6,15 @@
 authors_info = [
     ('Leon Jung', 'rwjung@robotis.com'),
     ('Wonho Yun', 'ywh@robotis.com'),
+    ('Hyungyu Kim', 'kimhg@robotis.com'),
 ]
 
 authors = ', '.join(author for author, _ in authors_info)
 author_emails = ', '.join(email for _, email in authors_info)
 
 setup(
     name='dynamixel_sdk',
-    version='4.0.2',
+    version='4.0.3',
     packages=['dynamixel_sdk'],
     package_dir={'': 'src'},
     license='Apache 2.0',

ros/dynamixel_sdk/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_sdk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.3 (2025-12-17)
+------------------
+* Dynamixel Easy SDK supports Linux SBC environments, Linux 32-bit platforms, and ROS 2 based build and deployment workflows
+* Contributors: Hyungyu Kim
+
 4.0.2 (2025-11-24)
 ------------------
 * None

ros/dynamixel_sdk/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(ament_cmake_python REQUIRED)
 ################################################################################
 include_directories(
   include/${PROJECT_NAME}
+  include
 )
 
 set(DYNAMIXEL_SDK_SOURCES
@@ -39,6 +40,14 @@ set(DYNAMIXEL_SDK_SOURCES
   src/dynamixel_sdk/port_handler.cpp
 )
 
+set(DYNAMIXEL_EASY_SDK_SOURCES
+  src/dynamixel_easy_sdk/connector.cpp
+  src/dynamixel_easy_sdk/control_table.cpp
+  src/dynamixel_easy_sdk/dynamixel_error.cpp
+  src/dynamixel_easy_sdk/group_executor.cpp
+  src/dynamixel_easy_sdk/motor.cpp
+)
+
 if(APPLE)
   add_library(dynamixel_sdk SHARED
     ${DYNAMIXEL_SDK_SOURCES}
@@ -52,6 +61,7 @@ elseif(WIN32)
 else()
   add_library(dynamixel_sdk SHARED
     ${DYNAMIXEL_SDK_SOURCES}
+    ${DYNAMIXEL_EASY_SDK_SOURCES}
     src/dynamixel_sdk/port_handler_linux.cpp
   )
 endif()
@@ -73,10 +83,21 @@ install(
   INCLUDES DESTINATION include
 )
 
+install(
+  DIRECTORY control_table/
+  DESTINATION share/${PROJECT_NAME}/control_table
+)
+
+target_compile_definitions(dynamixel_sdk
+  PUBLIC
+    CONTROL_TABLE_PATH="${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/control_table"
+)
+
 ################################################################################
 # Install Python Package
 ################################################################################
 ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR "src/dynamixel_sdk")
+ament_python_install_package(dynamixel_easy_sdk PACKAGE_DIR "src/dynamixel_easy_sdk")
 
 ################################################################################
 # Macro for ament package

ros/dynamixel_sdk/control_table/2xc430_w250.model

@@ -0,0 +1,70 @@
+[type info]
+name	value
+value_of_zero_radian_position	2048
+value_of_max_radian_position	4095
+value_of_min_radian_position	0
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0239691227	rad/s	signed
+Goal Velocity	0.0239691227	rad/s	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary(Shadow) ID
+13	1	Protocol Type
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+63	1	Shutdown
+64	1	Torque Enable
+65	1	LED
+68	1	Status Return Level
+69	1	Registered Instruction
+70	1	Hardware Error Status
+76	2	Velocity I Gain
+78	2	Velocity P Gain
+80	2	Position D Gain
+82	2	Position I Gain
+84	2	Position P Gain
+88	2	Feedforward 2nd Gain
+90	2	Feedforward 1st Gain
+98	1	Bus Watchdog
+100	2	Goal PWM
+104	4	Goal Velocity
+108	4	Profile Acceleration
+112	4	Profile Velocity
+116	4	Goal Position
+120	2	Realtime Tick
+122	1	Moving
+123	1	Moving Status
+124	2	Present PWM
+126	2	Present Load
+128	4	Present Velocity
+132	4	Present Position
+136	4	Velocity Trajectory
+140	4	Position Trajectory
+144	2	Present Input Voltage
+146	1	Present Temperature
+168	2	Indirect Address 1
+224	1	Indirect Data 1
+168	2	Indirect Address Write
+224	1	Indirect Data Write
+578	2	Indirect Address Read
+634	1	Indirect Data Read

ros/dynamixel_sdk/control_table/2xl430_w250.model

@@ -0,0 +1,70 @@
+[type info]
+name	value
+value_of_zero_radian_position	2048
+value_of_max_radian_position	4095
+value_of_min_radian_position	0
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0239691227	rad/s	signed
+Goal Velocity	0.0239691227	rad/s	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary(Shadow) ID
+13	1	Protocol Type
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+63	1	Shutdown
+64	1	Torque Enable
+65	1	LED
+68	1	Status Return Level
+69	1	Registered Instruction
+70	1	Hardware Error Status
+76	2	Velocity I Gain
+78	2	Velocity P Gain
+80	2	Position D Gain
+82	2	Position I Gain
+84	2	Position P Gain
+88	2	Feedforward 2nd Gain
+90	2	Feedforward 1st Gain
+98	1	Bus Watchdog
+100	2	Goal PWM
+104	4	Goal Velocity
+108	4	Profile Acceleration
+112	4	Profile Velocity
+116	4	Goal Position
+120	2	Realtime Tick
+122	1	Moving
+123	1	Moving Status
+124	2	Present PWM
+126	2	Present Load
+128	4	Present Velocity
+132	4	Present Position
+136	4	Velocity Trajectory
+140	4	Position Trajectory
+144	2	Present Input Voltage
+146	1	Present Temperature
+168	2	Indirect Address 1
+224	1	Indirect Data 1
+168	2	Indirect Address Write
+224	1	Indirect Data Write
+578	2	Indirect Address Read
+634	1	Indirect Data Read