Bump 1.4.0 #20
Bump 1.4.0 #20
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- Added new models: xh540_w150 and xc330_t288. - Introduced torque constant parameter in relevant functions.
…al Current' interface. Ensured proper checks for interface names before accumulating values for transmission commands.
- Introduced 'torque_constant' to xc330_t181.model, xc330_t288.model, and xh540_w150.model.
Support Current Control
Signed-off-by: Pyo <[email protected]>
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Files not reviewed (10)
- CHANGELOG.rst: Language not supported
- include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp: Language not supported
- include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp: Language not supported
- package.xml: Language not supported
- param/dxl_model/xc330_t181.model: Language not supported
- param/dxl_model/xc330_t288.model: Language not supported
- param/dxl_model/xh540_w150.model: Language not supported
- src/dynamixel/dynamixel.cpp: Language not supported
- src/dynamixel/dynamixel_info.cpp: Language not supported
- src/dynamixel_hardware_interface.cpp: Language not supported
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Hello @robotpilot, 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!
Summary of Changes
This pull request bumps the version of the dynamixel_hardware_interface package to 1.4.0. It introduces a torque constant parameter to the DXL model files, enhances transmission command calculation, unifies the initialization structure, and adds support for goal current control. The changes include modifications to the CHANGELOG, DXL model files, and source code to incorporate these new features and improvements.
Highlights
- Version Bump: The package version is bumped from 1.3.0 to 1.4.0.
- Torque Constant Parameter: A torque constant parameter is added to the DXL model files (xc330_t181.model, xc330_t288.model, xh540_w150.model).
- Goal Current Control: Support for goal current control is added, including modifications to the hardware interface and transmission command calculation.
- Transmission Command Calculation: Enhanced transmission command calculation to account for goal current control.
- Unified Initialization Structure: The initialization structure is unified for better consistency.
Changelog
Click here to see the changelog
- CHANGELOG.rst
- Added version 1.4.0 with release date 2025-03-20.
- Added Torque Constant Parameter to DXL Model Files.
- Enhanced Transmission Command Calculation.
- Unified Initialization Structure.
- Support for Goal Current Control.
- Added Woojin Wie to contributors.
- include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
- Added
torque_constantto theGetDxlTypeInfomethod parameters.
- Added
- include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
- Added definition for
GOAL_CURRENT_INDEX.
- Added definition for
- package.xml
- Updated package version to 1.4.0.
- param/dxl_model/xc330_t181.model
- Added
torque_constantparameter with value0.0006709470296015791.
- Added
- param/dxl_model/xc330_t288.model
- Added
torque_constantparameter with value0.0009674796739867748.
- Added
- param/dxl_model/xh540_w150.model
- Added
torque_constantparameter with value0.0045.
- Added
- src/dynamixel/dynamixel.cpp
- Modified
GetDxlValueFromSyncReadandGetDxlValueFromBulkReadto convert current to effort usingdxl_info_.ConvertCurrentToEffort.
- Modified
- src/dynamixel/dynamixel_info.cpp
- Modified
GetDxlTypeInfoto retrieve and set thetorque_constantvalue.
- Modified
- src/dynamixel_hardware_interface.cpp
- Modified
InitDxlWriteItemsto include 'Goal Position' and 'Goal Current' interfaces. - Modified
CalcJointToTransmissionto calculate and set 'Goal Position' and 'Goal Current' values for transmissions.
- Modified
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A constant torque, precisely spun.
From model files, parameters gleam,
A roboticist's electric dream.
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Code Review
The pull request bumps the version to 1.4.0 and introduces several new features and improvements, including torque constant parameter, enhanced transmission command calculation, unified initialization structure, and goal current control. The changes seem well-structured and address relevant aspects of the dynamixel hardware interface. However, some areas could benefit from further clarification and potential optimization.
Summary of Findings
- Missing Goal Velocity Implementation: The
GOAL_VELOCITY_INDEXis defined but commented out with aTODO. This indicates an incomplete feature that should be addressed or removed if not planned for immediate implementation. - Potential Redundancy in
InitDxlWriteItems: TheInitDxlWriteItemsfunction adds "Goal Position" and potentially "Goal Current" interfaces. It might be beneficial to ensure that these interfaces are not added multiple times or unnecessarily. - Inconsistent use of
GOAL_CURRENT_INDEX: TheGOAL_CURRENT_INDEXis used inCalcJointToTransmissionwith multiple nested conditional statements. This could be simplified for better readability and efficiency.
Merge Readiness
The pull request introduces valuable new features and improvements. However, the TODO in dynamixel_hardware_interface.hpp and the potential redundancy in InitDxlWriteItems should be addressed before merging. Additionally, the nested conditional statements in CalcJointToTransmission could be simplified. I am unable to approve this pull request, and recommend that another reviewer does so before merging. I recommend that the pull request not be merged until the high severity issues are addressed (at a minimum).
| #define PRESENT_EFFORT_INDEX 2 | ||
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| #define GOAL_POSITION_INDEX 0 | ||
| // #define GOAL_VELOCITY_INDEX 1 // TODO: to be implemented |
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This TODO indicates an incomplete feature. Either implement it or remove the definition if it's not planned for implementation in the near future. Leaving it as is can be misleading.
| HandlerVarType temp_write; | ||
| temp_write.id = id; | ||
| temp_write.name = gpio.name; | ||
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| temp_write.interface_name_vec.push_back("Goal Position"); | ||
| temp_write.value_ptr_vec.push_back(std::make_shared<double>(0.0)); | ||
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| temp_write.interface_name_vec.push_back(it.name); | ||
| temp_write.value_ptr_vec.push_back(std::make_shared<double>(0.0)); | ||
| hdl_trans_commands_.push_back(temp_write); | ||
| for (auto it : gpio.command_interfaces) { | ||
| if (it.name == "Goal Current") { | ||
| temp_write.interface_name_vec.push_back("Goal Current"); | ||
| temp_write.value_ptr_vec.push_back(std::make_shared<double>(0.0)); | ||
| } | ||
| } |
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Consider refactoring this section to avoid potential redundancy. The Goal Position interface is always added, and Goal Current is conditionally added within the loop. Ensure that these interfaces are not added multiple times if the conditions are not met as expected.
| for (size_t i = 0; i < num_of_transmissions_; i++) { | ||
| if (hdl_trans_commands_.at(i).interface_name_vec.size() > GOAL_CURRENT_INDEX && | ||
| hdl_trans_commands_.at(i).interface_name_vec.at(GOAL_CURRENT_INDEX) == "Goal Current") | ||
| { | ||
| for (size_t j = 0; j < hdl_joint_commands_.size(); j++) { | ||
| if (hdl_joint_commands_.at(j).interface_name_vec.size() > GOAL_CURRENT_INDEX && | ||
| hdl_joint_commands_.at(j).interface_name_vec.at(GOAL_CURRENT_INDEX) == | ||
| hardware_interface::HW_IF_EFFORT) | ||
| { | ||
| double value = 0.0; | ||
| for (size_t k = 0; k < num_of_joints_; k++) { | ||
| value += joint_to_transmission_matrix_[i][k] * | ||
| (*hdl_joint_commands_.at(k).value_ptr_vec.at(GOAL_CURRENT_INDEX)); | ||
| } | ||
| *hdl_trans_commands_.at(i).value_ptr_vec.at(GOAL_CURRENT_INDEX) = value; | ||
| } | ||
| } | ||
| } | ||
| } |
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This section contains multiple nested conditional statements. Consider refactoring this logic to improve readability and potentially reduce computational complexity. For instance, you could extract the inner loop and conditional checks into a separate function.
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