Support XM335-T323-T

[Woojin-Crive]

Support XM335-T323-T

[gemini-code-assist]

Summary of Changes

Hello @Woojin-Crive, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request expands the capabilities of the dynamixel_hardware_interface package by integrating support for a new Dynamixel motor model, the XM335-T323-T. This enhancement allows users to seamlessly incorporate this specific motor into their ROS 2 control setups, alongside a minor correction to an existing model's naming for improved accuracy.

Highlights

• New Dynamixel Model Support: Added full support for the XM335-T323-T Dynamixel motor, including its model definition and control table parameters.
• Model Name Correction: Corrected a typo in the dynamixel.model index file, renaming xc335_t332.model to xm335_t332.model and updating the corresponding file.
• Package Version Update: Incremented the package version from 1.5.1 to 1.5.2 to reflect these changes.

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Changelog

• CHANGELOG.rst
  • Added a new entry for version 1.5.2 dated 2026-02-04.
  • Included a note about adding the xm335_t323 model file.
  • Credited Woojin Wie as a contributor.
• package.xml
  • Updated the package version from 1.5.1 to 1.5.2.
• param/dxl_model/dynamixel.model
  • Added a new entry 1710 xm335_t323.model to the list of supported models.
  • Corrected the entry 1700 xc335_t332.model to 1700 xm335_t332.model.
• param/dxl_model/xc335_t332.model -> param/dxl_model/xm335_t332.model
  • The model definition file for xc335_t332 was renamed to xm335_t332.
• param/dxl_model/xm335_t323.model
  • A new file was added, defining the unit information and control table for the XM335-T323-T motor.

Activity

• No review comments or specific activity recorded yet.

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[gemini-code-assist]

Code Review

This pull request aims to add support for the XM335-T323-T motor. It also includes a fix for a typo in an existing model name. While the intent is clear, there's a critical issue with the implementation: the new model file for xm335_t323.model appears to be an incorrect copy of xm335_t332.model. This will lead to incorrect behavior for the new motor. I've also left a minor suggestion to improve the changelog entry for better history tracking.

[yun-goon]

Good!