Merge pull request #80 from ROBOTIS-GIT/feature-dy-current-unit

Support Torque constant for Dynamixel Y 99 reducer models

Author: Woojin-Crive

CHANGELOG.rst

@@ -2,23 +2,28 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.14 (2025-09-03)
+-------------------
+* Added Current units to YM070-210-*099 and YM080-230-*099 model files
+* Contributors: Woojin Wie
+
 1.4.13 (2025-08-13)
-------------------
+-------------------
 * Added default parameter for current units to model files
 * Contributors: Woojin Wie
 
 1.4.12 (2025-08-11)
-------------------
+-------------------
 * Added support for all dynamixel models that supports dynamixel protocol 2.0
 * Contributors: Woojin Wie
 
 1.4.11 (2025-07-21)
-------------------
+-------------------
 * Added support for firmware version-aware model file selection
 * Contributors: Woojin Wie
 
 1.4.10 (2025-07-18)
-------------------
+-------------------
 * Added unit system to model files
 * Added support for Dynamixel Y Error Code handling
 * Contributors: Woojin Wie

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.4.13</version>
+  <version>1.4.14</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

param/dxl_model/ym070_210_a099.model

@@ -10,8 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0010471976	rad/s	signed
 Goal Velocity	0.0010471976	rad/s	signed
-Present Current	1.0	raw	signed
-Goal Current	1.0	raw	signed
+Present Current	0.04	N/m	signed
+Goal Current	0.04	N/m	signed
 
 [control table]
 Address	Size	Data Name

param/dxl_model/ym070_210_r099.model

@@ -10,8 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0010471976	rad/s	signed
 Goal Velocity	0.0010471976	rad/s	signed
-Present Current	1.0	raw	signed
-Goal Current	1.0	raw	signed
+Present Current	0.04	N/m	signed
+Goal Current	0.04	N/m	signed
 
 [control table]
 Address	Size	Data Name

param/dxl_model/ym080_230_a099.model

@@ -10,8 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0010471976	rad/s	signed
 Goal Velocity	0.0010471976	rad/s	signed
-Present Current	1.0	raw	signed
-Goal Current	1.0	raw	signed
+Present Current	0.07692307692	N/m	signed
+Goal Current	0.07692307692	N/m	signed
 
 [control table]
 Address	Size	Data Name

param/dxl_model/ym080_230_r099.model

@@ -10,8 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0010471976	rad/s	signed
 Goal Velocity	0.0010471976	rad/s	signed
-Present Current	1.0	raw	signed
-Goal Current	1.0	raw	signed
+Present Current	0.07692307692	N/m	signed
+Goal Current	0.07692307692	N/m	signed
 
 [control table]
 Address	Size	Data Name