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Woojin-CriveWoojin-Crive
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Merge pull request #72 from ROBOTIS-GIT/feature-model-support
Add new Dynamixel model files
2 parents 7cc59f3 + 77341ea commit 30fe4d3

23 files changed

+1577
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lines changed

‎CHANGELOG.rst‎

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Changelog for package dynamixel_hardware_interface
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.4.12 (2025-08-11)
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------------------
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* Added support for all dynamixel models that supports dynamixel protocol 2.0
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* Contributors: Woojin Wie
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1.4.11 (2025-07-21)
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------------------
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* Added support for firmware version-aware model file selection

‎package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dynamixel_hardware_interface</name>
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<version>1.4.11</version>
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<version>1.4.12</version>
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<description>
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ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
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</description>

‎param/dxl_model/dynamixel.model‎

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Number Name
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30 mx_28.model
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220 omy_hat.model
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230 omy_end.model
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231 omy_end_rh_p12_rn.model
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311 mx_64.model
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321 mx_106.model
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350 xl320.model
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536 sensorxel_joy.model
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537 ffw_g40_imu.model
@@ -48,13 +51,27 @@ Number Name
4851
1270 xw430_t333.model
4952
1310 xw540_h260.model
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2000 ph42_020_s300.model
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2010 ph54_100_s500.model
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2020 ph54_200_s500.model
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2100 pm42_010_s260.model
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2110 pm54_040_s250.model
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2120 pm54_060_s250.model
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4000 ym070_210_m001.model
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4010 ym070_210_b001.model
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4020 ym070_210_r051.model
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4030 ym070_210_r099.model
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4040 ym070_210_a051.model
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4050 ym070_210_a099.model
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4120 ym080_230_m001.model
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4130 ym080_230_b001.model
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4140 ym080_230_r051.model
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4150 ym080_230_r099.model
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4160 ym080_230_a051.model
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4170 ym080_230_a099.model
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35074 rh_p12_rn.model
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43289 m42_10_s260_ra.model
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46097 m54_40_s250_ra.model
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46353 m54_60_s250_ra.model
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51201 h42_20_s300_ra.model
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53769 h54_100_s500_ra.model
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54025 h54_200_s500_ra.model

‎param/dxl_model/h42_20_s300_ra.model‎

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 303750
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value_of_min_radian_position -303750
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0010471976 rad/s signed
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Goal Velocity 0.0010471976 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary ID
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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40 4 Acceleration Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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56 1 External Port Mode 1
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57 1 External Port Mode 2
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58 1 External Port Mode 3
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59 1 External Port Mode 4
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63 1 Shutdown
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512 1 Torque Enable
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513 1 LED Red
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514 1 LED Green
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515 1 LED Blue
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516 1 Status Return Level
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517 1 Registered Instruction
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518 1 Hardware Error Status
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524 2 Velocity I Gain
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526 2 Velocity P Gain
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528 2 Position D Gain
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530 2 Position I Gain
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532 2 Position P Gain
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536 2 Feedforward 2nd Gain
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538 2 Feedforward 1st Gain
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546 1 Bus Watchdog
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548 2 Goal PWM
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550 2 Goal Current
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552 4 Goal Velocity
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556 4 Profile Acceleration
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560 4 Profile Velocity
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564 4 Goal Position
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568 2 Realtime Tick
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570 1 Moving
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571 1 Moving Status
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572 2 Present PWM
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574 2 Present Current
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576 4 Present Velocity
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580 4 Present Position
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584 4 Velocity Trajectory
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588 4 Position Trajectory
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592 2 Present Input Voltage
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594 1 Present Temperature
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600 2 External Port Data 1
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602 2 External Port Data 2
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604 2 External Port Data 3
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606 2 External Port Data 4
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168 2 Indirect Address 1
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634 1 Indirect Data 1
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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296 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/h54_100_s500_ra.model‎

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 501923
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value_of_min_radian_position -501923
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0010471976 rad/s signed
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Goal Velocity 0.0010471976 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary ID
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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40 4 Acceleration Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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56 1 External Port Mode 1
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57 1 External Port Mode 2
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58 1 External Port Mode 3
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59 1 External Port Mode 4
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63 1 Shutdown
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512 1 Torque Enable
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513 1 LED Red
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514 1 LED Green
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515 1 LED Blue
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516 1 Status Return Level
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517 1 Registered Instruction
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518 1 Hardware Error Status
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524 2 Velocity I Gain
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526 2 Velocity P Gain
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528 2 Position D Gain
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530 2 Position I Gain
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532 2 Position P Gain
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536 2 Feedforward 2nd Gain
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538 2 Feedforward 1st Gain
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546 1 Bus Watchdog
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548 2 Goal PWM
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550 2 Goal Current
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552 4 Goal Velocity
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556 4 Profile Acceleration
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560 4 Profile Velocity
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564 4 Goal Position
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568 2 Realtime Tick
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570 1 Moving
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571 1 Moving Status
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572 2 Present PWM
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574 2 Present Current
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576 4 Present Velocity
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580 4 Present Position
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584 4 Velocity Trajectory
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588 4 Position Trajectory
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592 2 Present Input Voltage
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594 1 Present Temperature
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600 2 External Port Data 1
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602 2 External Port Data 2
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604 2 External Port Data 3
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606 2 External Port Data 4
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168 2 Indirect Address 1
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634 1 Indirect Data 1
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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296 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/h54_200_s500_ra.model‎

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 501923
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value_of_min_radian_position -501923
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0010471976 rad/s signed
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Goal Velocity 0.0010471976 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary ID
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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40 4 Acceleration Limit
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44 4 Velocity Limit
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48 4 Max Position Limit
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52 4 Min Position Limit
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56 1 External Port Mode 1
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57 1 External Port Mode 2
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58 1 External Port Mode 3
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59 1 External Port Mode 4
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63 1 Shutdown
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512 1 Torque Enable
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513 1 LED Red
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514 1 LED Green
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515 1 LED Blue
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516 1 Status Return Level
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517 1 Registered Instruction
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518 1 Hardware Error Status
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524 2 Velocity I Gain
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526 2 Velocity P Gain
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528 2 Position D Gain
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530 2 Position I Gain
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532 2 Position P Gain
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536 2 Feedforward 2nd Gain
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538 2 Feedforward 1st Gain
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546 1 Bus Watchdog
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548 2 Goal PWM
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550 2 Goal Current
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552 4 Goal Velocity
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556 4 Profile Acceleration
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560 4 Profile Velocity
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564 4 Goal Position
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568 2 Realtime Tick
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570 1 Moving
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571 1 Moving Status
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572 2 Present PWM
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574 2 Present Current
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576 4 Present Velocity
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580 4 Present Position
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584 4 Velocity Trajectory
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588 4 Position Trajectory
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592 2 Present Input Voltage
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594 1 Present Temperature
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600 2 External Port Data 1
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602 2 External Port Data 2
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604 2 External Port Data 3
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606 2 External Port Data 4
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168 2 Indirect Address 1
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634 1 Indirect Data 1
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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296 2 Indirect Address Read
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698 1 Indirect Data Read

‎param/dxl_model/m42_10_s260_ra.model‎

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[type info]
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name value
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value_of_zero_radian_position 0
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value_of_max_radian_position 263187
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value_of_min_radian_position -263187
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min_radian -3.14159265
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max_radian 3.14159265
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[unit info]
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Data Name value unit Sign Type
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Present Velocity 0.0010471976 rad/s signed
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Goal Velocity 0.0010471976 rad/s signed
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[control table]
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Address Size Data Name
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0 2 Model Number
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2 4 Model Information
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6 1 Firmware Version
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7 1 ID
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8 1 Baud Rate
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9 1 Return Delay Time
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10 1 Drive Mode
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11 1 Operating Mode
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12 1 Secondary ID
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20 4 Homing Offset
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24 4 Moving Threshold
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31 1 Temperature Limit
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32 2 Max Voltage Limit
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34 2 Min Voltage Limit
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36 2 PWM Limit
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38 2 Current Limit
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40 4 Acceleration Limit
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44 4 Velocity Limit
34+
48 4 Max Position Limit
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52 4 Min Position Limit
36+
56 1 External Port Mode 1
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57 1 External Port Mode 2
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58 1 External Port Mode 3
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59 1 External Port Mode 4
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63 1 Shutdown
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512 1 Torque Enable
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513 1 LED Red
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514 1 LED Green
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515 1 LED Blue
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516 1 Status Return Level
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517 1 Registered Instruction
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518 1 Hardware Error Status
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524 2 Velocity I Gain
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526 2 Velocity P Gain
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528 2 Position D Gain
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530 2 Position I Gain
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532 2 Position P Gain
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536 2 Feedforward 2nd Gain
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538 2 Feedforward 1st Gain
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546 1 Bus Watchdog
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548 2 Goal PWM
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550 2 Goal Current
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552 4 Goal Velocity
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556 4 Profile Acceleration
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560 4 Profile Velocity
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564 4 Goal Position
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568 2 Realtime Tick
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570 1 Moving
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571 1 Moving Status
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572 2 Present PWM
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574 2 Present Current
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576 4 Present Velocity
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580 4 Present Position
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584 4 Velocity Trajectory
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588 4 Position Trajectory
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592 2 Present Input Voltage
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594 1 Present Temperature
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600 2 External Port Data 1
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602 2 External Port Data 2
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604 2 External Port Data 3
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606 2 External Port Data 4
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168 2 Indirect Address 1
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634 1 Indirect Data 1
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168 2 Indirect Address Write
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634 1 Indirect Data Write
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296 2 Indirect Address Read
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698 1 Indirect Data Read

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