Merge pull request #33 from ROBOTIS-GIT/main

Bump 1.4.3

Author: robotpilot

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.3 (2025-04-10)
+------------------
+* Fixed build errors
+* Contributors: Wonho Yun
+
 1.4.2 (2025-04-05)
 ------------------
 * Added OM-Y dynamixel model files

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -86,9 +86,9 @@ class DynamixelInfo
   {return static_cast<int16_t>(effort / dxl_info_[id].torque_constant);}
   inline double ConvertCurrentToEffort(uint8_t id, int16_t current)
   {return static_cast<double>(current * dxl_info_[id].torque_constant);}
-  inline double ConvertValueRPMToVelocityRPS(uint8_t id, int32_t value_rpm)
+  inline double ConvertValueRPMToVelocityRPS(int32_t value_rpm)
   {return static_cast<double>(value_rpm * 0.01 / 60.0 * 2.0 * M_PI);}
-  inline int32_t ConvertVelocityRPSToValueRPM(uint8_t id, double vel_rps)
+  inline int32_t ConvertVelocityRPSToValueRPM(double vel_rps)
   {return static_cast<int32_t>(vel_rps * 100.0 * 60.0 / 2.0 / M_PI);}
 };
 

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>1.4.2</version>
+  <version>1.4.3</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

src/dynamixel/dynamixel.cpp

@@ -635,6 +635,8 @@ std::string Dynamixel::DxlErrorToString(DxlError error_num)
       return "DLX_HARDWARE_ERROR";
     case DXL_REBOOT_FAIL:
       return "DXL_REBOOT_FAIL";
+    default:
+      return "UNKNOWN_ERROR";
   }
 }
 
@@ -965,15 +967,15 @@ DxlError Dynamixel::ProcessReadCommunication(
     dxl_comm_result = group_sync_read->txPacket();
     if (dxl_comm_result != COMM_SUCCESS) {
       fprintf(
-        stderr, "SyncRead Tx Fail [Dxl Size : %d] [Error code : %d]\n",
+        stderr, "SyncRead Tx Fail [Dxl Size : %ld] [Error code : %d]\n",
         read_data_list_.size(), dxl_comm_result);
       return DxlError::SYNC_READ_FAIL;
     }
   } else {
     dxl_comm_result = group_bulk_read->txPacket();
     if (dxl_comm_result != COMM_SUCCESS) {
       fprintf(
-        stderr, "BulkRead Tx Fail [Dxl Size : %d] [Error code : %d]\n",
+        stderr, "BulkRead Tx Fail [Dxl Size : %ld] [Error code : %d]\n",
         read_data_list_.size(), dxl_comm_result);
       return DxlError::BULK_READ_FAIL;
     }
@@ -989,15 +991,15 @@ DxlError Dynamixel::ProcessReadCommunication(
     dxl_comm_result = group_sync_read->rxPacket();
     if (dxl_comm_result != COMM_SUCCESS) {
       fprintf(
-        stderr, "SyncRead Rx Fail [Dxl Size : %d] [Error code : %d]\n",
+        stderr, "SyncRead Rx Fail [Dxl Size : %ld] [Error code : %d]\n",
         read_data_list_.size(), dxl_comm_result);
       return DxlError::SYNC_READ_FAIL;
     }
   } else {
     dxl_comm_result = group_bulk_read->rxPacket();
     if (dxl_comm_result != COMM_SUCCESS) {
       fprintf(
-        stderr, "BulkRead Rx Fail [Dxl Size : %d] [Error code : %d]\n",
+        stderr, "BulkRead Rx Fail [Dxl Size : %ld] [Error code : %d]\n",
         read_data_list_.size(), dxl_comm_result);
       return DxlError::BULK_READ_FAIL;
     }
@@ -1027,9 +1029,8 @@ DxlError Dynamixel::ProcessReadData(
         id,
         static_cast<int32_t>(dxl_getdata));
     } else if (item_names[item_index] == "Present Velocity") {
-      *data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(
-        id,
-        static_cast<int32_t>(dxl_getdata));
+      *data_ptrs[item_index] =
+        dxl_info_.ConvertValueRPMToVelocityRPS(static_cast<int32_t>(dxl_getdata));
     } else if (item_names[item_index] == "Present Current") {
       *data_ptrs[item_index] = dxl_info_.ConvertCurrentToEffort(
         id,
@@ -1173,7 +1174,7 @@ DxlError Dynamixel::SetDxlValueToSyncWrite()
         param_write_value[added_byte + 0] = DXL_LOBYTE(goal_current);
         param_write_value[added_byte + 1] = DXL_HIBYTE(goal_current);
       } else if (indirect_info_write_[ID].item_name.at(item_index) == "Goal Velocity") {
-        int16_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(ID, data);
+        int16_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(data);
         param_write_value[added_byte + 0] = DXL_LOBYTE(DXL_LOWORD(goal_velocity));
         param_write_value[added_byte + 1] = DXL_HIBYTE(DXL_LOWORD(goal_velocity));
         param_write_value[added_byte + 2] = DXL_LOBYTE(DXL_HIWORD(goal_velocity));
@@ -1288,7 +1289,7 @@ DxlError Dynamixel::SetDxlValueToBulkWrite()
         param_write_value[added_byte + 0] = DXL_LOBYTE(goal_current);
         param_write_value[added_byte + 1] = DXL_HIBYTE(goal_current);
       } else if (indirect_info_write_[ID].item_name.at(item_index) == "Goal Velocity") {
-        int32_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(ID, data);
+        int32_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(data);
         param_write_value[added_byte + 0] = DXL_LOBYTE(DXL_LOWORD(goal_velocity));
         param_write_value[added_byte + 1] = DXL_HIBYTE(DXL_LOWORD(goal_velocity));
         param_write_value[added_byte + 2] = DXL_LOBYTE(DXL_HIWORD(goal_velocity));

src/dynamixel_hardware_interface.cpp

@@ -376,13 +376,13 @@ DynamixelHardware::export_command_interfaces()
 }
 
 hardware_interface::CallbackReturn DynamixelHardware::on_activate(
-  const rclcpp_lifecycle::State & previous_state)
+  [[maybe_unused]] const rclcpp_lifecycle::State & previous_state)
 {
   return start();
 }
 
 hardware_interface::CallbackReturn DynamixelHardware::on_deactivate(
-  const rclcpp_lifecycle::State & previous_state)
+  [[maybe_unused]] const rclcpp_lifecycle::State & previous_state)
 {
   return stop();
 }
@@ -440,7 +440,7 @@ hardware_interface::CallbackReturn DynamixelHardware::stop()
 }
 
 hardware_interface::return_type DynamixelHardware::read(
-  const rclcpp::Time & time, const rclcpp::Duration & period)
+  [[maybe_unused]] const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   double period_ms = period.seconds() * 1000;
   if (dxl_status_ == REBOOTING) {
@@ -503,7 +503,7 @@ hardware_interface::return_type DynamixelHardware::read(
   return hardware_interface::return_type::OK;
 }
 hardware_interface::return_type DynamixelHardware::write(
-  const rclcpp::Time & time, const rclcpp::Duration & period)
+  [[maybe_unused]] const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   if (dxl_status_ == DXL_OK || dxl_status_ == HW_ERROR) {
     dxl_comm_->WriteItemBuf();
@@ -1051,7 +1051,7 @@ void DynamixelHardware::set_dxl_data_srv_callback(
 }
 
 void DynamixelHardware::reboot_dxl_srv_callback(
-  const std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Request> request,
+  [[maybe_unused]] const std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Request> request,
   std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Response> response)
 {
   if (CommReset()) {