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Merged
merged 9 commits into from
Mar 20, 2025
Merged

Bump 1.4.0 #20

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5ae50d9
Support 'Goal Current' control for OpenMANIPULATOR-Y:
Woojin-Crive Dec 12, 2024
b675c80
Unified structure for initialization code
Woojin-Crive Dec 13, 2024
13cbd0a
Refactor transmission command calculation to conditionally handle 'Go…
Woojin-Crive Dec 13, 2024
c255f1d
Add torque constant parameter to multiple DXL model files
Woojin-Crive Jan 9, 2025
1b71860
fix: lint error handling
Woojin-Crive Mar 19, 2025
7da0f98
fix: lint error handling
Woojin-Crive Mar 19, 2025
196cd79
fix: lint error handling
Woojin-Crive Mar 19, 2025
a2dcf76
Merge pull request #18 from ROBOTIS-GIT/feature-om-y-top-support
robotpilot Mar 20, 2025
5f3a293
Updated the CHANGELOG and version to release binary packages
robotpilot Mar 20, 2025
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8 changes: 8 additions & 0 deletions CHANGELOG.rst
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Expand Up @@ -2,6 +2,14 @@
Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.0 (2025-03-20)
------------------
* Added Torque Constant Parameter to DXL Model Files
* Enhanced Transmission Command Calculation
* Unified Initialization Structure
* Support for Goal Current Control
* Contributors: Woojin Wie

1.3.0 (2025-02-17)
------------------
* Enhance Error Handling and Timeout Management
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3 changes: 2 additions & 1 deletion include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
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Expand Up @@ -78,7 +78,8 @@ class DynamixelInfo
int32_t & value_of_max_radian_position,
int32_t & value_of_min_radian_position,
double & min_radian,
double & max_radian);
double & max_radian,
double & torque_constant);
int32_t ConvertRadianToValue(uint8_t id, double radian);
double ConvertValueToRadian(uint8_t id, int32_t value);
inline int16_t ConvertEffortToCurrent(uint8_t id, double effort)
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4 changes: 4 additions & 0 deletions include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
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Expand Up @@ -47,6 +47,10 @@
#define PRESENT_VELOCITY_INDEX 1
#define PRESENT_EFFORT_INDEX 2

#define GOAL_POSITION_INDEX 0
// #define GOAL_VELOCITY_INDEX 1 // TODO: to be implemented
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@gemini-code-assist gemini-code-assist bot Mar 20, 2025

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high

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.

#define GOAL_CURRENT_INDEX 1

namespace dynamixel_hardware_interface
{

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2 changes: 1 addition & 1 deletion package.xml
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@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='UTF-8'?>
<package format="3">
<name>dynamixel_hardware_interface</name>
<version>1.3.0</version>
<version>1.4.0</version>
<description>
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
</description>
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t181.model
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Expand Up @@ -5,6 +5,7 @@ value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265
torque_constant 0.0006709470296015791

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t288.model
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Expand Up @@ -5,6 +5,7 @@ value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265
torque_constant 0.0009674796739867748

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh540_w150.model
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Expand Up @@ -5,6 +5,7 @@ value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265
torque_constant 0.0045

[control table]
Address Size Data Name
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4 changes: 2 additions & 2 deletions src/dynamixel/dynamixel.cpp
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Expand Up @@ -840,7 +840,7 @@ DxlError Dynamixel::GetDxlValueFromSyncRead()
dxl_info_.ConvertValueRPMToVelocityRPS(ID, static_cast<int32_t>(dxl_getdata));
} else if (indirect_info_read_[ID].item_name.at(item_index) == "Present Current") {
*it_read_data.item_data_ptr_vec.at(item_index) =
static_cast<int16_t>(dxl_getdata);
dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
} else {
*it_read_data.item_data_ptr_vec.at(item_index) =
static_cast<double>(dxl_getdata);
Expand Down Expand Up @@ -962,7 +962,7 @@ DxlError Dynamixel::GetDxlValueFromBulkRead()
dxl_info_.ConvertValueRPMToVelocityRPS(ID, static_cast<int32_t>(dxl_getdata));
} else if (indirect_info_read_[ID].item_name.at(item_index) == "Present Current") {
*it_read_data.item_data_ptr_vec.at(item_index) =
static_cast<int16_t>(dxl_getdata);
dxl_info_.ConvertCurrentToEffort(ID, static_cast<int16_t>(dxl_getdata));
} else {
*it_read_data.item_data_ptr_vec.at(item_index) =
static_cast<double>(dxl_getdata);
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4 changes: 3 additions & 1 deletion src/dynamixel/dynamixel_info.cpp
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Expand Up @@ -149,13 +149,15 @@ bool DynamixelInfo::GetDxlTypeInfo(
int32_t & value_of_max_radian_position,
int32_t & value_of_min_radian_position,
double & min_radian,
double & max_radian)
double & max_radian,
double & torque_constant)
{
value_of_zero_radian_position = dxl_info_[id].value_of_zero_radian_position;
value_of_max_radian_position = dxl_info_[id].value_of_max_radian_position;
value_of_min_radian_position = dxl_info_[id].value_of_min_radian_position;
min_radian = dxl_info_[id].min_radian;
max_radian = dxl_info_[id].max_radian;
torque_constant = dxl_info_[id].torque_constant;
return true;
}

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43 changes: 34 additions & 9 deletions src/dynamixel_hardware_interface.cpp
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Expand Up @@ -711,15 +711,21 @@ bool DynamixelHardware::InitDxlWriteItems()
for (const hardware_interface::ComponentInfo & gpio : info_.gpios) {
if (gpio.command_interfaces.size()) {
uint8_t id = static_cast<uint8_t>(stoi(gpio.parameters.at("ID")));
for (auto it : gpio.command_interfaces) {
HandlerVarType temp_write;
temp_write.id = id;
temp_write.name = gpio.name;
HandlerVarType temp_write;
temp_write.id = id;
temp_write.name = gpio.name;

temp_write.interface_name_vec.push_back("Goal Position");
temp_write.value_ptr_vec.push_back(std::make_shared<double>(0.0));

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));
}
}
Comment on lines +714 to 726
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medium

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.


hdl_trans_commands_.push_back(temp_write);
}
}
is_set_hdl = true;
Expand Down Expand Up @@ -853,14 +859,33 @@ void DynamixelHardware::CalcJointToTransmission()
double value = 0.0;
for (size_t j = 0; j < num_of_joints_; j++) {
value += joint_to_transmission_matrix_[i][j] *
(*hdl_joint_commands_.at(j).value_ptr_vec.at(0));
(*hdl_joint_commands_.at(j).value_ptr_vec.at(GOAL_POSITION_INDEX));
}

if (hdl_trans_commands_.at(i).name == conversion_dxl_name_) {
value = prismaticToRevolute(value);
}
*hdl_trans_commands_.at(i).value_ptr_vec.at(GOAL_POSITION_INDEX) = value;
}

*hdl_trans_commands_.at(i).value_ptr_vec.at(0) = value;
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;
}
}
}
}
Comment on lines +871 to 889
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medium

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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