Modified the error about unused id

Signed-off-by: Wonho Yun <[email protected]>

Author: yun-goon

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);}
 };
 

src/dynamixel/dynamixel.cpp

@@ -1027,9 +1027,7 @@ 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 +1171,7 @@ 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 +1286,7 @@ 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));