Bump 4.0.3

.github/workflows/ros-ci.yml

@@ -4,9 +4,9 @@ name: CI
 # Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ main, humble ]
+    branches: [ main, humble, jazzy ]
   pull_request:
-    branches: [ main, humble ]
+    branches: [ main, humble, jazzy ]
 
 # Defines a set of jobs to be run as part of the workflow
 jobs:
@@ -49,6 +49,23 @@ jobs:
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
+      - name: Check and Install ROS dependencies
+        shell: bash
+        run: |
+          set -e
+          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+          echo "--- Updating rosdep definitions ---"
+          rosdep update
+          echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
+          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }}
+          echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
+          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }}; then
+            echo "--- rosdep check passed ---"
+          else
+            echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
+            exit 1
+          fi
+
       - name: Build and Test
         uses: ros-tooling/action-ros-ci@v0.3
         with:

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         = 3.8.4
+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 +1,27 @@
 # 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
+* Added data types.hpp
+* Added error handling for cases where operation fails due to incorrect torque state or operating mode.
+* Contributors: Hyungyu Kim
+
+4.0.1 (2025-11-05)
+------------------
+* Fix error that cache status is not updated
+* Contributors: Hyungyu Kim
+
+4.0.0 (2025-10-14)
+------------------
+* Update Dynamixel Easy SDK in C++ Linux 64bit
+* Contributors: Hyungyu Kim
+
 3.8.4 (2025-05-28)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt

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

@@ -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) $(FORMAT) -fPIC -g
-FORMAT     = -m64
+CONTROL_TABLE_PATH_FLAG = -DCONTROL_TABLE_PATH=\"$(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 $(CONTROL_TABLE_PATH_FLAG)
+FORMAT     = -m64 -std=c++17
 INCLUDES    += -I$(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)))))
@@ -89,6 +96,13 @@ install: $(TARGET)
 	@$(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)
 
 uninstall:
@@ -99,6 +113,8 @@ 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 +135,9 @@ $(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/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
 #---------------------------------------------------------------------

c++/include/dynamixel_easy_sdk/connector.hpp

@@ -0,0 +1,63 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "dynamixel_sdk/dynamixel_sdk.h"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+#include "dynamixel_easy_sdk/motor.hpp"
+#include "dynamixel_easy_sdk/group_executor.hpp"
+
+namespace dynamixel
+{
+class Connector
+{
+public:
+  Connector(const std::string & port_name, int baud_rate);
+
+  virtual ~Connector();
+
+  std::unique_ptr<Motor> createMotor(uint8_t id);
+  std::vector<std::unique_ptr<Motor>> createAllMotors(int start_id = 0, int end_id = 252);
+  std::unique_ptr<GroupExecutor> createGroupExecutor();
+
+  Result<void, DxlError> write1ByteData(uint8_t id, uint16_t address, uint8_t value);
+  Result<void, DxlError> write2ByteData(uint8_t id, uint16_t address, uint16_t value);
+  Result<void, DxlError> write4ByteData(uint8_t id, uint16_t address, uint32_t value);
+  Result<uint8_t, DxlError> read1ByteData(uint8_t id, uint16_t address);
+  Result<uint16_t, DxlError> read2ByteData(uint8_t id, uint16_t address);
+  Result<uint32_t, DxlError> read4ByteData(uint8_t id, uint16_t address);
+
+  Result<void, DxlError> reboot(uint8_t id);
+  Result<uint16_t, DxlError> ping(uint8_t id);
+  Result<std::vector<uint8_t>, DxlError> broadcastPing();
+  Result<void, DxlError> factoryReset(uint8_t id, uint8_t option);
+  void closePort() {port_handler_->closePort();}
+
+  PortHandler * getPortHandler() const {return port_handler_.get();}
+  PacketHandler * getPacketHandler() const {return packet_handler_;}
+
+private:
+  std::unique_ptr<PortHandler> port_handler_;
+  PacketHandler * packet_handler_;
+};
+}  // namespace dynamixel
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONNECTOR_HPP_ */

c++/include/dynamixel_easy_sdk/control_table.hpp

@@ -0,0 +1,40 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
+#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_
+
+#include <cstdint>
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <sstream>
+#include <string>
+
+#include "dynamixel_easy_sdk/data_types.hpp"
+#include "dynamixel_easy_sdk/dynamixel_error.hpp"
+
+namespace dynamixel
+{
+class ControlTable
+{
+public:
+  static const std::map<uint16_t, std::string> ParsingModelList();
+  static const std::string getModelName(uint16_t model_number);
+  static const std::map<std::string, ControlTableItem> & getControlTable(uint16_t model_number);
+};
+}  // namespace dynamixel
+#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_EASY_SDK_CONTROL_TABLE_HPP_ */