Bump 4.0.3

[GyuH13]

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.

[Copilot]

Pull request overview

This PR bumps the version to 4.0.3 and introduces the Dynamixel Easy SDK, which provides a higher-level abstraction layer over the existing Dynamixel SDK for Linux environments and ROS 2 deployments.

• Adds Dynamixel Easy SDK with Python implementation for simplified motor control
• Includes control table model files for various Dynamixel motor series (YM, XW, XM, XL, XH, XD, XC, MX, PH, PM, RH models)
• Updates CHANGELOG with version history entries and build configuration for ROS 2

Reviewed changes

Copilot reviewed 227 out of 258 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
ros/dynamixel_sdk/CHANGELOG.rst	Adds changelog entries for versions 4.0.0 through 4.0.3
ros/dynamixel_sdk/CMakeLists.txt	Configures build for Dynamixel Easy SDK sources and installs control table files
python/src/dynamixel_easy_sdk/*.py	Implements core Easy SDK components (motor, connector, group executor, data types, error handling)
ros/dynamixel_sdk/control_table/*.model	Adds control table definitions for numerous Dynamixel motor models
python/src/dynamixel_easy_sdk/control_table/*.model	Duplicates control table definitions for Python package
c++/library.properties	Updates Arduino library version from 3.8.3 to 4.0.0

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[gemini-code-assist]

Summary of Changes

Hello @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 marks a significant advancement for the Dynamixel SDK, moving to version 4.0.3. The core of this update is the introduction of the 'Easy SDK,' a new layer designed to streamline motor control for developers using both C++ and Python. This new interface simplifies complex operations, making it easier to manage Dynamixel motors across various Linux environments, including SBCs and 32-bit systems, and integrates smoothly with modern ROS 2 development practices. The changes aim to enhance usability, broaden compatibility, and provide a more robust development experience.

Highlights

• Major Version Bump: The Dynamixel SDK has been updated to version 4.0.3 across C++, Python, and ROS packages, signifying a major release with new features and improvements.
• Introduction of Easy SDK: A new 'Easy SDK' interface has been integrated for both C++ and Python, providing higher-level abstractions and simplified methods for interacting with Dynamixel motors. This includes new classes like Connector, Motor, and GroupExecutor.
• Expanded Platform Support: The Dynamixel Easy SDK now officially supports Linux SBC (Single Board Computer) environments and 32-bit Linux platforms, alongside enhanced integration for ROS 2-based build and deployment workflows.
• Enhanced Error Handling and Data Types: New data types (data_types.hpp/.py) and improved error handling mechanisms (dynamixel_error.hpp/.py) have been introduced within the Easy SDK to provide more robust and user-friendly feedback during motor operations.
• Comprehensive Model Control Table Definitions: Numerous new model definition files (.model) have been added under the control_table/ directory, expanding the SDK's knowledge base for various Dynamixel motor types and their specific control registers.
• Build System Updates: Makefiles for Linux 32-bit, 64-bit, and SBC environments have been updated to include the new Easy SDK sources, set the C++ standard to C++17, and manage the installation of new headers and control table files. ROS 2 CMakeLists.txt also reflects these changes.

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Ignored Files

• Ignored by pattern: .github/workflows/** (1)
  • .github/workflows/ros-ci.yml

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[gemini-code-assist]

Code Review

This pull request introduces a significant new feature, the 'Dynamixel Easy SDK', for both C++ and Python, which provides a higher-level, more user-friendly API for controlling Dynamixel servos. It also includes a version bump to 4.0.3 and updates release notes and build systems accordingly. The new API uses modern C++ features like enum class and a Result type for error handling, and modern Python features like dataclasses and IntEnum.

My review focuses on improving the robustness and maintainability of the new SDK. Key points include:

• Addressing file duplication for the control_table data, which is a significant maintenance risk.
• Improving the robustness of the Makefiles.
• Discussing potential design improvements in the C++ and Python Motor classes regarding I/O in constructors.
• Pointing out a potential memory safety issue with raw pointers in the C++ StagedCommand struct.

Overall, this is a great addition that will make the SDK easier to use. The feedback provided aims to make it even more robust and easier to maintain in the long run.