Skip to content

Bump 1.4.3 #33

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 7 commits into from
Apr 14, 2025
Merged

Bump 1.4.3 #33

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
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
541632c
Merge pull request #32 from ROBOTIS-GIT/feature-modified-build-error
robotpilot Apr 11, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions CHANGELOG.rst
View file
Open in desktop
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
View file
Open in desktop
Original file line number Diff line number Diff line change
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);}
};

Expand Down
2 changes: 1 addition & 1 deletion package.xml
View file
Open in desktop
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>
Expand Down
19 changes: 10 additions & 9 deletions src/dynamixel/dynamixel.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
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",
Copy link
Contributor

@gemini-code-assist gemini-code-assist bot Apr 14, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

medium

Consider using %zu instead of %ld for size_t to be more specific.

Suggested change
stderr, "SyncRead Tx Fail [Dxl Size : %ld] [Error code : %d]\n",
stderr, "SyncRead Tx Fail [Dxl Size : %zu] [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);
Copy link
Contributor

@gemini-code-assist gemini-code-assist bot Apr 14, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

medium

Consider using %zu instead of %ld for size_t to be more specific.

Suggested change
read_data_list_.size(), dxl_comm_result);
stderr, "BulkRead Tx Fail [Dxl Size : %zu] [Error code : %d]\n",

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",
Copy link
Contributor

@gemini-code-assist gemini-code-assist bot Apr 14, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

medium

Consider using %zu instead of %ld for size_t to be more specific.

Suggested change
stderr, "SyncRead Rx Fail [Dxl Size : %ld] [Error code : %d]\n",
stderr, "SyncRead Rx Fail [Dxl Size : %zu] [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);
Copy link
Contributor

@gemini-code-assist gemini-code-assist bot Apr 14, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

medium

Consider using %zu instead of %ld for size_t to be more specific.

Suggested change
read_data_list_.size(), dxl_comm_result);
stderr, "BulkRead Rx Fail [Dxl Size : %zu] [Error code : %d]\n",

return DxlError::BULK_READ_FAIL;
}
Expand Down Expand Up @@ -1027,9 +1029,8 @@ 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));
} else if (item_names[item_index] == "Present Current") {
*data_ptrs[item_index] = dxl_info_.ConvertCurrentToEffort(
id,
Expand Down Expand Up @@ -1173,7 +1174,7 @@ 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 +1289,7 @@ 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
View file
Open in desktop
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
Loading