Added ci, lint and bump

.github/workflows/ros-ci.yml

@@ -1,45 +1,57 @@
-name: ros-ci
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble ]
+    branches: [ main, humble, jazzy ]
   pull_request:
-    branches: [ humble ]
+    branches: [ main, humble, jazzy ]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  humble:
+  # The name of the job
+  ROS_CI:
     runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
           - humble
+          - jazzy
+          - rolling
         include:
+          # ROS 2 Humble Hawksbill
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: ubuntu:jammy
-          #   ros_distribution: rolling
-          #   ros_version: 2
+          # ROS 2 Jazzy Jalisco
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+          # ROS 2 Rolling Ridley
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v3
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.7.1
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.3.5
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: dynamixel_hardware_interface
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/dynamixel_hardware_interface/main/dynamixel_hardware_interface_ci.repos"
+          package-name: dynamixel_hardware_interface

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2025-02-17)
+------------------
+* Enhance Error Handling and Timeout Management
+* Use GroupFastSyncRead and GroupFastBulkRead
+* Remove deprecated parameter ros_update_freq_ to prevent stoi failure
+* Contributors: Woojin Wie
+
 1.2.0 (2025-01-17)
 ------------------
 * Extend Bulk/Sync Selection Logic to Include Indirect Operations

dynamixel_hardware_interface_ci.repos

@@ -2,8 +2,8 @@ repositories:
   utils/DynamixelSDK:
     type: git
     url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-    version: humble
+    version: main
   dynamixel_hardware_interface/dynamixel_interfaces:
     type: git
     url: https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git
-    version: humble
+    version: main

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -38,8 +38,8 @@
 #include "dynamixel_interfaces/srv/set_data_to_dxl.hpp"
 #include "dynamixel_interfaces/srv/reboot_dxl.hpp"
 
-#include "realtime_tools/realtime_publisher.h"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_publisher.hpp"
+#include "realtime_tools/realtime_buffer.hpp"
 
 #include "std_srvs/srv/set_bool.hpp"
 

package.xml

@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

src/dynamixel_hardware_interface.cpp

@@ -70,8 +70,10 @@ hardware_interface::CallbackReturn DynamixelHardware::on_init(
   baud_rate_ = info_.hardware_parameters["baud_rate"];
   try {
     err_timeout_ms_ = stod(info_.hardware_parameters["error_timeout_ms"]);
-  } catch (const std::exception& e) {
-    RCLCPP_ERROR(logger_, "Failed to parse error_timeout_ms parameter: %s, using default value", e.what());
+  } catch (const std::exception & e) {
+    RCLCPP_ERROR(
+      logger_, "Failed to parse error_timeout_ms parameter: %s, using default value",
+      e.what());
   }
 
   RCLCPP_INFO_STREAM(
@@ -405,10 +407,11 @@ hardware_interface::return_type DynamixelHardware::read(
         read_error_duration_ = rclcpp::Duration(0, 0);
       }
       read_error_duration_ = read_error_duration_ + period;
-      
+
       RCLCPP_ERROR_STREAM(
         logger_,
-        "Dynamixel Read Fail (Duration: " << read_error_duration_.seconds() * 1000 << "ms/" << err_timeout_ms_ << "ms)");
+        "Dynamixel Read Fail (Duration: " << read_error_duration_.seconds() * 1000 << "ms/" <<
+          err_timeout_ms_ << "ms)");
 
       if (read_error_duration_.seconds() * 1000 >= err_timeout_ms_) {
         return hardware_interface::return_type::ERROR;
@@ -470,10 +473,11 @@ hardware_interface::return_type DynamixelHardware::write(
     return hardware_interface::return_type::OK;
   } else {
     write_error_duration_ = write_error_duration_ + period;
-    
+
     RCLCPP_ERROR_STREAM(
       logger_,
-      "Dynamixel Write Fail (Duration: " << write_error_duration_.seconds() * 1000 << "ms/" << err_timeout_ms_ << "ms)");
+      "Dynamixel Write Fail (Duration: " << write_error_duration_.seconds() * 1000 << "ms/" <<
+        err_timeout_ms_ << "ms)");
 
     if (write_error_duration_.seconds() * 1000 >= err_timeout_ms_) {
       return hardware_interface::return_type::ERROR;