feat: Add GPIO controller state handling and rcu model for ffw

Author: Woojin-Crive

include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp

@@ -45,6 +45,9 @@ namespace dynamixel_hardware_interface
 #define SYNC 0  ///< Synchronous communication.
 #define BULK 1  ///< Bulk communication.
 
+/// @brief Maximum number of retries for write operations
+#define MAX_WRITE_RETRIES 10  ///< Maximum number of retries for write operations
+
 /// @brief Error codes for Dynamixel operations.
 enum DxlError
 {

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -245,6 +245,7 @@ class DynamixelHardware : public
   std::vector<HandlerVarType> hdl_sensor_states_;
 
   ///// handler controller variable
+  std::vector<HandlerVarType> hdl_gpio_controller_states_;
   std::vector<HandlerVarType> hdl_gpio_controller_commands_;
 
   bool is_set_hdl_{false};

param/dxl_model/dynamixel.model

@@ -48,3 +48,4 @@ Number	Name
 230	omy_end.model
 536 sensorxel_joy.model
 600 sensorxel_joy.model
+602 ffw_g10_rcu.model