Bump 1.4.2 #30
Bump 1.4.2 #30
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- Add omy_hat.model and omy_end.model to supported dynamixel models - Update dynamixel.model to include new OMY models (220 and 230) - Update gitignore to ensure model files are tracked
- Changed value_of_min_radian_position to -740 and min_radian to -1.099 in omy_end.model and rh_p12_rn.model for handling negative values
…erface in one ros2_control_node
…t control - Updated ReadMultiDxlData, GetDxlValueFromSyncRead, and GetDxlValueFromBulkRead to accept a period_ms parameter. - Introduced ProcessReadCommunication and ProcessReadData functions for better data handling and communication management. - Enhanced error handling and logging for read operations.
Signed-off-by: Wonho Yun <[email protected]>
Signed-off-by: Wonho Yun <[email protected]>
Signed-off-by: Wonho Yun <[email protected]>
Signed-off-by: Wonho Yun <[email protected]>
Signed-off-by: Pyo <[email protected]>
Update Torque Disable
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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 1.4.2. It includes adding OM-Y dynamixel model files, adding a function to enable torque, and fixing the configuration for OM-Y robots. The pull request also introduces controller items, modifies the read function to include a period, and adds a retry mechanism for writing items.
Highlights
- New Dynamixel Models: Adds OM-Y dynamixel model files (
omy_hat.model,omy_end.model) and updatesdynamixel.modelto include these new models. - Torque Enable Functionality: Introduces a global torque enable parameter and modifies the
startfunction to enable/disable torque based on this parameter. - Controller Items: Adds support for controller items, allowing initialization and control of Dynamixel controllers.
- Read Function Modification: Modifies the
readfunction to include aperiodparameter, which is used in theReadMultiDxlDatafunction. - Retry Write Item: Implements a retry mechanism for writing items to Dynamixel devices, improving robustness.
Changelog
Click here to see the changelog
- .gitignore
- Added exception for dynamixel model files.
- CHANGELOG.rst
- Added OM-Y dynamixel model files
- Added a function to enable torque
- Fixed the configuration for OM-Y robots
- include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp
- Added
<functional>include. - Modified
ReadMultiDxlData,GetDxlValueFromSyncRead, andGetDxlValueFromBulkReadto accept aperiod_msparameter. - Added
ProcessReadDataandProcessReadCommunicationfunctions for processing read data and communication.
- Added
- include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
- Added
global_torque_enable_member variable. - Added
controller_id_andcontroller_item_member variables. - Added
initItems,retryWriteItem, andInitControllerItemsfunctions.
- Added
- package.xml
- Bumped version to 1.4.2.
- Added Wonho Yun as an author.
- param/dxl_model/dynamixel.model
- Added OM-Y dynamixel model files (
omy_hat.model,omy_end.model).
- Added OM-Y dynamixel model files (
- param/dxl_model/omy_end.model
- Added new dynamixel model file for omy_end.
- param/dxl_model/omy_hat.model
- Added new dynamixel model file for omy_hat.
- param/dxl_model/rh_p12_rn.model
- Fixed min_radian value.
- src/dynamixel/dynamixel.cpp
- Added
<functional>include. - Modified
DynamixelDisableto returnDxlError. - Modified
ReadMultiDxlData,GetDxlValueFromSyncRead, andGetDxlValueFromBulkReadto accept aperiod_msparameter. - Implemented
ProcessReadCommunicationandProcessReadDatafunctions.
- Added
- src/dynamixel_hardware_interface.cpp
- Added parsing of
torque_enableparameter. - Added support for controller items during initialization.
- Modified
startfunction to enable/disable torque based onglobal_torque_enable_. - Modified
readfunction to include aperiodparameter inReadMultiDxlDatacall. - Added
InitControllerItemsfunction. - Implemented
retryWriteItemfunction.
- Added parsing of
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Code Review
The pull request bumps the version to 1.4.2, adds OM-Y dynamixel model files, adds a function to enable torque, and fixes the configuration for OM-Y robots. The changes look good overall, but there are a few areas that could be improved.
Summary of Findings
- Error Handling in
DynamixelDisable: TheDynamixelDisablefunction could return early if an error occurs while disabling torque on one of the Dynamixels. It's better to attempt disabling torque on all Dynamixels and then return an error if any of them failed. - Missing Timeout for Communication: The
ProcessReadCommunicationfunction does not have a timeout mechanism when receiving packets, which could lead to indefinite blocking if a Dynamixel fails to respond. - Inconsistent use of
statickeyword: Theis_set_hdlvariable is declared asstaticinInitDxlReadItemsandInitDxlWriteItemsinitially, but later it is changed to a member variableis_set_hdl_. This inconsistency can lead to confusion and unexpected behavior.
Merge Readiness
The pull request is almost ready for merging. However, the high severity issue in DynamixelDisable should be addressed before merging. The medium severity issues related to communication timeouts and the static keyword should also be considered for improvement before merging. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging.
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