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Merged
merged 6 commits into from
Apr 11, 2025
Merged

Modified Build Error #32

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b1d8a28
Modified print type error
yun-goon Apr 10, 2025
ebce0be
Modified the error about unused id
yun-goon Apr 10, 2025
99e1702
Added switch's default option
yun-goon Apr 10, 2025
32b08ab
Modified unused parameters adding maybe_unused
yun-goon Apr 10, 2025
85b2763
Modified version
yun-goon Apr 10, 2025
cdb4d70
Modified Lint
yun-goon Apr 10, 2025
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5 changes: 5 additions & 0 deletions CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@
Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.3 (2025-04-10)
------------------
* Fixed build errors
* Contributors: Wonho Yun

1.4.2 (2025-04-05)
------------------
* Added OM-Y dynamixel model files
Expand Down
4 changes: 2 additions & 2 deletions include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
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Expand Up @@ -86,9 +86,9 @@ class DynamixelInfo
{return static_cast<int16_t>(effort / dxl_info_[id].torque_constant);}
inline double ConvertCurrentToEffort(uint8_t id, int16_t current)
{return static_cast<double>(current * dxl_info_[id].torque_constant);}
inline double ConvertValueRPMToVelocityRPS(uint8_t id, int32_t value_rpm)
inline double ConvertValueRPMToVelocityRPS(int32_t value_rpm)
{return static_cast<double>(value_rpm * 0.01 / 60.0 * 2.0 * M_PI);}
inline int32_t ConvertVelocityRPSToValueRPM(uint8_t id, double vel_rps)
inline int32_t ConvertVelocityRPSToValueRPM(double vel_rps)
{return static_cast<int32_t>(vel_rps * 100.0 * 60.0 / 2.0 / M_PI);}
};

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2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>dynamixel_hardware_interface</name>
<version>1.4.2</version>
<version>1.4.3</version>
<description>
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
</description>
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18 changes: 9 additions & 9 deletions src/dynamixel/dynamixel.cpp
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Expand Up @@ -635,6 +635,8 @@ std::string Dynamixel::DxlErrorToString(DxlError error_num)
return "DLX_HARDWARE_ERROR";
case DXL_REBOOT_FAIL:
return "DXL_REBOOT_FAIL";
default:
return "UNKNOWN_ERROR";
}
}

Expand Down Expand Up @@ -965,15 +967,15 @@ DxlError Dynamixel::ProcessReadCommunication(
dxl_comm_result = group_sync_read->txPacket();
if (dxl_comm_result != COMM_SUCCESS) {
fprintf(
stderr, "SyncRead Tx Fail [Dxl Size : %d] [Error code : %d]\n",
stderr, "SyncRead Tx Fail [Dxl Size : %ld] [Error code : %d]\n",
read_data_list_.size(), dxl_comm_result);
return DxlError::SYNC_READ_FAIL;
}
} else {
dxl_comm_result = group_bulk_read->txPacket();
if (dxl_comm_result != COMM_SUCCESS) {
fprintf(
stderr, "BulkRead Tx Fail [Dxl Size : %d] [Error code : %d]\n",
stderr, "BulkRead Tx Fail [Dxl Size : %ld] [Error code : %d]\n",
read_data_list_.size(), dxl_comm_result);
return DxlError::BULK_READ_FAIL;
}
Expand All @@ -989,15 +991,15 @@ DxlError Dynamixel::ProcessReadCommunication(
dxl_comm_result = group_sync_read->rxPacket();
if (dxl_comm_result != COMM_SUCCESS) {
fprintf(
stderr, "SyncRead Rx Fail [Dxl Size : %d] [Error code : %d]\n",
stderr, "SyncRead Rx Fail [Dxl Size : %ld] [Error code : %d]\n",
read_data_list_.size(), dxl_comm_result);
return DxlError::SYNC_READ_FAIL;
}
} else {
dxl_comm_result = group_bulk_read->rxPacket();
if (dxl_comm_result != COMM_SUCCESS) {
fprintf(
stderr, "BulkRead Rx Fail [Dxl Size : %d] [Error code : %d]\n",
stderr, "BulkRead Rx Fail [Dxl Size : %ld] [Error code : %d]\n",
read_data_list_.size(), dxl_comm_result);
return DxlError::BULK_READ_FAIL;
}
Expand Down Expand Up @@ -1027,9 +1029,7 @@ DxlError Dynamixel::ProcessReadData(
id,
static_cast<int32_t>(dxl_getdata));
} else if (item_names[item_index] == "Present Velocity") {
*data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(
id,
static_cast<int32_t>(dxl_getdata));
*data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(static_cast<int32_t>(dxl_getdata));
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high

The id parameter is removed from dxl_info_.ConvertValueRPMToVelocityRPS. Ensure that this function does not rely on the id for any internal calculations or data access. If the id is not used, this change is valid; otherwise, it could lead to incorrect behavior.

Suggested change
static_cast<int32_t>(dxl_getdata));
} else if (item_names[item_index] == "Present Velocity") {
*data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(
id,
static_cast<int32_t>(dxl_getdata));
*data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(static_cast<int32_t>(dxl_getdata));
*data_ptrs[item_index] = dxl_info_.ConvertValueRPMToVelocityRPS(static_cast<int32_t>(dxl_getdata));

} else if (item_names[item_index] == "Present Current") {
*data_ptrs[item_index] = dxl_info_.ConvertCurrentToEffort(
id,
Expand Down Expand Up @@ -1173,7 +1173,7 @@ DxlError Dynamixel::SetDxlValueToSyncWrite()
param_write_value[added_byte + 0] = DXL_LOBYTE(goal_current);
param_write_value[added_byte + 1] = DXL_HIBYTE(goal_current);
} else if (indirect_info_write_[ID].item_name.at(item_index) == "Goal Velocity") {
int16_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(ID, data);
int16_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(data);
param_write_value[added_byte + 0] = DXL_LOBYTE(DXL_LOWORD(goal_velocity));
param_write_value[added_byte + 1] = DXL_HIBYTE(DXL_LOWORD(goal_velocity));
param_write_value[added_byte + 2] = DXL_LOBYTE(DXL_HIWORD(goal_velocity));
Expand Down Expand Up @@ -1288,7 +1288,7 @@ DxlError Dynamixel::SetDxlValueToBulkWrite()
param_write_value[added_byte + 0] = DXL_LOBYTE(goal_current);
param_write_value[added_byte + 1] = DXL_HIBYTE(goal_current);
} else if (indirect_info_write_[ID].item_name.at(item_index) == "Goal Velocity") {
int32_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(ID, data);
int32_t goal_velocity = dxl_info_.ConvertVelocityRPSToValueRPM(data);
param_write_value[added_byte + 0] = DXL_LOBYTE(DXL_LOWORD(goal_velocity));
param_write_value[added_byte + 1] = DXL_HIBYTE(DXL_LOWORD(goal_velocity));
param_write_value[added_byte + 2] = DXL_LOBYTE(DXL_HIWORD(goal_velocity));
Expand Down
10 changes: 5 additions & 5 deletions src/dynamixel_hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -376,13 +376,13 @@ DynamixelHardware::export_command_interfaces()
}

hardware_interface::CallbackReturn DynamixelHardware::on_activate(
const rclcpp_lifecycle::State & previous_state)
[[maybe_unused]] const rclcpp_lifecycle::State & previous_state)
{
return start();
}

hardware_interface::CallbackReturn DynamixelHardware::on_deactivate(
const rclcpp_lifecycle::State & previous_state)
[[maybe_unused]] const rclcpp_lifecycle::State & previous_state)
{
return stop();
}
Expand Down Expand Up @@ -440,7 +440,7 @@ hardware_interface::CallbackReturn DynamixelHardware::stop()
}

hardware_interface::return_type DynamixelHardware::read(
const rclcpp::Time & time, const rclcpp::Duration & period)
[[maybe_unused]] const rclcpp::Time & time, const rclcpp::Duration & period)
{
double period_ms = period.seconds() * 1000;
if (dxl_status_ == REBOOTING) {
Expand Down Expand Up @@ -503,7 +503,7 @@ hardware_interface::return_type DynamixelHardware::read(
return hardware_interface::return_type::OK;
}
hardware_interface::return_type DynamixelHardware::write(
const rclcpp::Time & time, const rclcpp::Duration & period)
[[maybe_unused]] const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (dxl_status_ == DXL_OK || dxl_status_ == HW_ERROR) {
dxl_comm_->WriteItemBuf();
Expand Down Expand Up @@ -1051,7 +1051,7 @@ void DynamixelHardware::set_dxl_data_srv_callback(
}

void DynamixelHardware::reboot_dxl_srv_callback(
const std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Request> request,
[[maybe_unused]] const std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Request> request,
std::shared_ptr<dynamixel_interfaces::srv::RebootDxl::Response> response)
{
if (CommReset()) {
Expand Down
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