Modified packages

Signed-off-by: Sungho Woo <[email protected]>

Author: sunghowoo

README.md

@@ -77,9 +77,9 @@ To effectively use the **Dynamixel Hardware Interface** in a ROS 2 control syste
 These parameters define how the interface communicates with the Dynamixel motors:
 
 - **`port_name`**: Serial port for communication.
-  
+
 - **`baud_rate`**: Communication baud rate.
-  
+
 - **`error_timeout_sec`**: Timeout for communication errors.
 
 ------
@@ -89,9 +89,9 @@ These parameters define how the interface communicates with the Dynamixel motors
 These parameters define the hardware setup:
 
 - **`number_of_joints`**: Total number of joints.
-  
+
 - **`number_of_transmissions`**: Number of transmissions.
-  
+
 - **Transmission Matrices**: Define joint-to-transmission mappings.
 
 ------
@@ -112,7 +112,7 @@ Joints define the control and state interfaces for robot movement:
    ```xml
    <command_interface name="position">
    ```
-   
+
 2. **`<state_interface>`**: Monitors joint state data.
 
    ```xml

dynamixel_hardware_interface/CHANGELOG.rst

@@ -5,4 +5,4 @@ Changelog for package dynamixel_hardware_interface
 1.0.0 (2024-12-04)
 ------------------
 * updated the CHANGELOG
-* Contributors: Hye-Jong KIM, Sungho Woo
+* Contributors: Hye-Jong Kim, Sungho Woo

dynamixel_hardware_interface/include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na, Sungho Woo*/
+/* Authors: Hye-Jong KIM, Sungho Woo */
 
 #ifndef DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_HPP_
 #define DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_HPP_

dynamixel_hardware_interface/include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na */
+/* Authors: Hye-Jong KIM */
 
 #ifndef DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_INFO_HPP_
 #define DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_INFO_HPP_

dynamixel_hardware_interface/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na, Sungho Woo */
+/* Authors: Hye-Jong KIM, Sungho Woo */
 
 #ifndef DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL_HARDWARE_INTERFACE_HPP_
 #define DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL_HARDWARE_INTERFACE_HPP_

dynamixel_hardware_interface/package.xml

@@ -5,11 +5,10 @@
   <description>
     ROS2 package for dynamixel_hardware_interface
   </description>
-  <maintainer email="wsh@robotis.com">hpaper</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>ROBOTIS</license>
-  <author email="[email protected]">hjkim</author>
-  <author email="[email protected]">yhna</author>
-  <author email="[email protected]">yhna</author>
+  <author email="[email protected]">Hye-Jong KIM</author>
+  <author email="[email protected]">Sungho Woo</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

dynamixel_hardware_interface/src/dynamixel/dynamixel.cpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na, Sungho Woo */
+/* Authors: Hye-Jong KIM, Sungho Woo */
 
 #include "dynamixel_hardware_interface/dynamixel/dynamixel.hpp"
 

dynamixel_hardware_interface/src/dynamixel/dynamixel_info.cpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na */
+/* Authors: Hye-Jong KIM*/
 
 #include "dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp"
 #include <string>
@@ -56,7 +56,6 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
 {
   std::string path = dxl_model_file_dir + "/";
 
-  // find model file path
   auto it = dxl_model_list_.find(model_num);
   if (it != dxl_model_list_.end()) {
     path += it->second;
@@ -65,22 +64,17 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
     return;
   }
 
-  // fprintf(stderr, "[DBG] find model file\n");
-
-  // file open
   std::ifstream open_file(path);
   if (open_file.is_open() != 1) {
     fprintf(stderr, "[ERROR] CANNOT FIND DXL [%s] MODEL FILE.\n", path.c_str());
     exit(-1);
   }
-  // fprintf(stderr, "[DBG] find model file open\n");
 
   DxlInfo temp_dxl_info;
   std::string line;
 
   temp_dxl_info.model_num = model_num;
 
-  // read type info
   while (!open_file.eof() ) {
     getline(open_file, line);
     if (strcmp(line.c_str(), "[control table]") == 0) {
@@ -104,9 +98,7 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
       temp_dxl_info.torque_constant = static_cast<double>(stod(strs.at(1)));
     }
   }
-  // fprintf(stderr, "[DBG] read type info\n");
 
-  // read control table item
   getline(open_file, line);
   while (!open_file.eof() ) {
     getline(open_file, line);
@@ -117,17 +109,12 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
     std::vector<std::string> strs;
     boost::split(strs, line, boost::is_any_of("\t"));
 
-    // fprintf(stderr, "[DBG] address %s.\n", strs.at(0).c_str());
-    // fprintf(stderr, "[DBG] size %s.\n", strs.at(1).c_str());
-    // fprintf(stderr, "[DBG] name %s.\n", strs.at(2).c_str());
-
     ControlItem temp;
     temp.address = static_cast<uint16_t>(stoi(strs.at(0)));
     temp.size = static_cast<uint8_t>(stoi(strs.at(1)));
     temp.item_name = strs.at(2);
     temp_dxl_info.item.push_back(temp);
   }
-  // fprintf(stderr, "[DBG] read control item\n");
 
   dxl_info_[id] = temp_dxl_info;
   open_file.close();
@@ -206,6 +193,4 @@ double DynamixelInfo::ConvertValueToRadian(uint8_t id, int32_t value)
     return 0.0;
   }
 }
-
-
 }  // namespace dynamixel_hardware_interface

dynamixel_hardware_interface/src/dynamixel_hardware_interface.cpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2020 ROBOTIS CO., LTD.
+* Copyright 2024 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.
@@ -13,7 +13,7 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *******************************************************************************/
-/* Authors: Hye-Jong KIM, Yong-Ho Na, Sungho Woo */
+/* Authors: Hye-Jong KIM, Sungho Woo */
 
 #include "dynamixel_hardware_interface/dynamixel_hardware_interface.hpp"
 

dynamixel_interfaces/package.xml

@@ -3,11 +3,10 @@
   <name>dynamixel_interfaces</name>
   <version>1.0.0</version>
   <description>ROS2 package for dynamixel_interfaces</description>
-  <maintainer email="wsh@robotis.com">hpaper</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>ROBOTIS</license>
-  <author email="[email protected]">hjkim</author>
-  <author email="[email protected]">yhna</author>
-  <author email="[email protected]">yhna</author>
+  <author email="[email protected]">Hye-Jong KIM</author>
+  <author email="[email protected]">Sungho Woo</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>