Bump 1.4.8

[Woojin-Crive]

No description provided.

[gemini-code-assist]

Summary of Changes

Hello @Woojin-Crive, 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!

This pull request updates the dynamixel_hardware_interface package to version 1.4.8. The primary focus is on introducing a new Dynamixel model for OMY, enhancing the underlying communication mechanisms to support more flexible data writing via sync/bulk operations, and implementing a crucial goal position synchronization step before enabling torque, which is essential for the OMY sync table feature.

Highlights

• Version Bump: The package version has been incremented from 1.4.7 to 1.4.8 in package.xml and CHANGELOG.rst, reflecting the new features and improvements.
• New Dynamixel Model for OMY: A new Dynamixel model, omy_end_rh_p12_rn.model, has been introduced and registered in dynamixel.model (ID 231). This new model appears to consolidate type info and control table parameters previously defined in omy_end.model, streamlining model definitions and supporting virtual DXL.
• Enhanced Communication Protocol: The SetDxlValueToSyncWrite and SetDxlValueToBulkWrite methods in src/dynamixel/dynamixel.cpp have been generalized. They now support writing various data types (1, 2, or 4 bytes) for indirect addressing, moving beyond just goal_current. This enhancement provides greater flexibility for features like virtual DXL and sync tables.
• Goal Position Synchronization Before Torque Enable: In src/dynamixel_hardware_interface.cpp, the initialization sequence within the start() method has been adjusted. Goal positions are now synchronized (CalcJointToTransmission() and WriteMultiDxlData()) before torque is enabled, which is a critical step for the OMY sync table feature. A 500ms sleep was also removed.
• Indirect Addressing for OMY_HAT Model: The omy_hat.model definition has been updated to include new indirect address and data entries for both write and read operations, further enabling advanced communication patterns for this specific model.

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[gemini-code-assist]

Code Review

This pull request bumps the package version to 1.4.8 and introduces a new model for OMY to support virtual_dxl, along with synchronizing goal position before enabling torque. A critical issue was found in param/dxl_model/omy_hat.model where new control table entries have conflicting addresses with existing ones. A medium maintainability issue was found in src/dynamixel/dynamixel.cpp due to duplicated code for data serialization in SetDxlValueToSyncWrite and SetDxlValueToBulkWrite. Refactoring into a helper function is recommended.

[gemini-code-assist]

The Indirect Address Write at address 112 conflicts with Indirect Address at the same address on line 20. Similarly, Indirect Data Write at address 816 on line 37 conflicts with Indirect Data at the same address on line 35. Verify the correct addresses for these new items and ensure there are no address conflicts.

[gemini-code-assist]

This block of code for packing data into the write buffer is duplicated in SetDxlValueToBulkWrite() (lines 2070-2084). Consider extracting this logic into a private helper function to improve maintainability and reduce redundancy. A switch statement could be cleaner here than a series of if-else if statements.

      } else {
        switch (indirect_info_write_[comm_id].item_size.at(item_index)) {
          case 4: {
            int32_t value = static_cast<int32_t>(data);
            param_write_value[added_byte + 0] = DXL_LOBYTE(DXL_LOWORD(value));
            param_write_value[added_byte + 1] = DXL_HIBYTE(DXL_LOWORD(value));
            param_write_value[added_byte + 2] = DXL_LOBYTE(DXL_HIWORD(value));
            param_write_value[added_byte + 3] = DXL_HIBYTE(DXL_HIWORD(value));
            break;
          }
          case 2: {
            int16_t value = static_cast<int16_t>(data);
            param_write_value[added_byte + 0] = DXL_LOBYTE(value);
            param_write_value[added_byte + 1] = DXL_HIBYTE(value);
            break;
          }
          case 1: {
            param_write_value[added_byte] = static_cast<uint8_t>(data);
            break;
          }
        }
      }

[gemini-code-assist]

This logic is a duplicate of the code in SetDxlValueToSyncWrite() (lines 1837-1851). Refactor this into a shared helper function to avoid code duplication.