Bump 1.4.0 #21

robotpilot · 2025-03-20T01:27:20Z

No description provided.

- 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

gemini-code-assist

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, dynamixel info header, hardware interface header, package XML, DXL model files, and source files.

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) to improve accuracy in effort/torque calculations.
Goal Current Control: Support for goal current control is added, allowing the user to set the desired current for the Dynamixel motors.
Transmission Command Calculation: The transmission command calculation is enhanced to support goal current control, using the joint-to-transmission matrix to calculate the appropriate transmission commands based on joint efforts.
Unified Initialization Structure: The initialization structure is unified to streamline the setup process.

Changelog

Click here to see the changelog

CHANGELOG.rst
- Added version 1.4.0 changelog entry.
- Added Torque Constant Parameter to DXL Model Files
- Enhanced Transmission Command Calculation
- Unified Initialization Structure
- Support for Goal Current Control
include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
- Added torque_constant parameter to the GetDxlTypeInfo method.
include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
- Added definitions for GOAL_POSITION_INDEX and GOAL_CURRENT_INDEX.
package.xml
- Updated package version to 1.4.0.
param/dxl_model/xc330_t181.model
- Added torque_constant parameter with a value of 0.0006709470296015791.
param/dxl_model/xc330_t288.model
- Added torque_constant parameter with a value of 0.0009674796739867748.
param/dxl_model/xh540_w150.model
- Added torque_constant parameter with a value of 0.0045.
src/dynamixel/dynamixel.cpp
- Modified GetDxlValueFromSyncRead and GetDxlValueFromBulkRead to convert current to effort using dxl_info_.ConvertCurrentToEffort.
src/dynamixel/dynamixel_info.cpp
- Modified GetDxlTypeInfo to retrieve and set the torque_constant value.
src/dynamixel_hardware_interface.cpp
- Modified InitDxlWriteItems to include "Goal Position" and "Goal Current" command interfaces.
- Modified CalcJointToTransmission to calculate transmission commands for both goal position and goal current.

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Trivia time!

What company originally developed the Dynamixel actuators?

Click here for the answer

The Dynamixel actuators were originally developed by Robotis Co., Ltd.

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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, there are a few areas that could benefit from further attention.

Summary of Findings

Missing Goal Velocity Implementation: The GOAL_VELOCITY_INDEX is defined but commented out with a TODO. This indicates an incomplete feature that should be addressed before merging, or the TODO should be removed if the feature is not planned for this release.
Inconsistent Interface Handling: The InitDxlWriteItems function adds "Goal Position" and potentially "Goal Current" interfaces, but the logic for handling these interfaces in CalcJointToTransmission is somewhat complex and could be simplified for better readability and maintainability.
Potential Redundancy in Interface Checks: The nested if statements in CalcJointToTransmission for handling "Goal Current" might be redundant and could be refactored for clarity and efficiency.

Merge Readiness

The pull request introduces valuable new features and improvements. However, the incomplete GOAL_VELOCITY_INDEX implementation and the complexity in CalcJointToTransmission warrant further attention. I recommend addressing these issues before merging. I am unable to approve this pull request, and users should have others review and approve this code before merging.

gemini-code-assist · 2025-03-20T01:27:41Z

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

 #define PRESENT_EFFORT_INDEX 2

+#define GOAL_POSITION_INDEX 0
+// #define GOAL_VELOCITY_INDEX 1  // TODO: to be implemented


This line is commented out with a TODO. Is the goal velocity control to be implemented in this release? If not, consider removing this line to avoid confusion. If it is to be implemented, please do so before merging.

gemini-code-assist · 2025-03-20T01:27:42Z

src/dynamixel_hardware_interface.cpp

+        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));
+          }
        }
+
+        hdl_trans_commands_.push_back(temp_write);


The logic here could be simplified. Instead of creating a temp_write object and pushing it back, consider directly pushing the necessary interfaces and values into hdl_trans_commands_ within the loop. This might reduce the number of lines and improve readability.

gemini-code-assist · 2025-03-20T01:27:42Z

src/dynamixel_hardware_interface.cpp

+      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)


This nested if statement checks for the same condition twice. Consider refactoring this to avoid redundancy and improve readability. You could extract the condition into a variable and reuse it.

Woojin-Crive and others added 9 commits March 19, 2025 16:19

Support 'Goal Current' control for OpenMANIPULATOR-Y:

5ae50d9

- Added new models: xh540_w150 and xc330_t288. - Introduced torque constant parameter in relevant functions.

Unified structure for initialization code

b675c80

Refactor transmission command calculation to conditionally handle 'Go…

13cbd0a

…al Current' interface. Ensured proper checks for interface names before accumulating values for transmission commands.

Add torque constant parameter to multiple DXL model files

c255f1d

- Introduced 'torque_constant' to xc330_t181.model, xc330_t288.model, and xh540_w150.model.

fix: lint error handling

1b71860

fix: lint error handling

7da0f98

fix: lint error handling

196cd79

Merge pull request #18 from ROBOTIS-GIT/feature-om-y-top-support

a2dcf76

Support Current Control

Updated the CHANGELOG and version to release binary packages

5f3a293

Signed-off-by: Pyo <[email protected]>

robotpilot added the bump Increase the version number to release label Mar 20, 2025

robotpilot self-assigned this Mar 20, 2025

Copilot AI review requested due to automatic review settings March 20, 2025 01:27

robotpilot added this to Platform Mar 20, 2025

github-project-automation bot moved this to 🌱 Todo in Platform Mar 20, 2025

Copilot AI reviewed Mar 20, 2025

View reviewed changes

robotpilot moved this from 🌱 Todo to 📝 Pull Request in Platform Mar 20, 2025

gemini-code-assist bot reviewed Mar 20, 2025

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gemini-code-assist bot suggested changes Mar 20, 2025

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robotpilot merged commit 22292c5 into jazzy Mar 20, 2025
33 checks passed

robotpilot deleted the bump-1.4.0 branch March 20, 2025 01:39

github-project-automation bot moved this from 📝 Pull Request to 🚩Done in Platform Mar 20, 2025

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