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Merged
merged 9 commits into from
Mar 20, 2025
Merged

Bump 1.4.0 #21

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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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medium

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.

#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));
}
}

hdl_trans_commands_.push_back(temp_write);
Comment on lines +714 to +728
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@gemini-code-assist gemini-code-assist bot Mar 20, 2025

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medium

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.

}
}
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)
Comment on lines +875 to +878
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medium

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.

{
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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