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Merged
merged 9 commits into from
Jun 23, 2025
Merged

Bump 1.4.8 #55

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eb407cb
add rosdep ci
GyuH13 Jun 19, 2025
98be8ba
Merge pull request #53 from ROBOTIS-GIT/feature-rosdep-ci
robotpilot Jun 20, 2025
39ec66e
feat: Add new model configuration for omy_end_rh_p12_rn and update dy…
Woojin-Crive Jun 20, 2025
820bd44
feat: Enhance data handling in SetDxlValueToSyncWrite and SetDxlValue…
Woojin-Crive Jun 20, 2025
6e9a7bc
feat: Add indirect data handling to omy_hat model with new read and w…
Woojin-Crive Jun 20, 2025
e4e8544
refactor: Remove unused parameters from omy_end model configuration
Woojin-Crive Jun 23, 2025
d7f8428
feat: Update joint synchronization process by adding prior goal posit…
Woojin-Crive Jun 23, 2025
710eab9
chore: Bump version to 1.4.8 and update changelog with new OMY model …
Woojin-Crive Jun 23, 2025
f519f98
Merge pull request #54 from ROBOTIS-GIT/feature-omy-end
Woojin-Crive Jun 23, 2025
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17 changes: 17 additions & 0 deletions .github/workflows/ros-ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,23 @@ jobs:
with:
required-ros-distributions: ${{ matrix.ros_distribution }}

- name: Check and Install ROS dependencies
shell: bash
run: |
set -e
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
echo "--- Updating rosdep definitions ---"
rosdep update
echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }}
echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }}; then
echo "--- rosdep check passed ---"
else
echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
exit 1
fi

- name: Build and Test
uses: ros-tooling/[email protected]
with:
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6 changes: 6 additions & 0 deletions CHANGELOG.rst
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Expand Up @@ -2,6 +2,12 @@
Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.8 (2025-06-23)
------------------
* Added new model for OMY to use virtual_dxl
* Added goal position synchronization before torque enable for OMY sync table feature
* Contributors: Woojin Wie

1.4.7 (2025-06-19)
------------------
* Added virtual_dxl and support for rcu
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2 changes: 1 addition & 1 deletion package.xml
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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>1.4.7</version>
<version>1.4.8</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/dynamixel.model
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ Number Name
35074 rh_p12_rn.model
220 omy_hat.model
230 omy_end.model
231 omy_end_rh_p12_rn.model
536 sensorxel_joy.model
600 sensorxel_joy.model
602 ffw_g10_rcu.model
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19 changes: 0 additions & 19 deletions param/dxl_model/omy_end.model
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@@ -1,12 +1,3 @@
[type info]
name value
value_of_zero_radian_position 0
value_of_max_radian_position 740
value_of_min_radian_position -740
min_radian -1.099
max_radian 1.099
velocity_unit 0.114

[control table]
Address Size Data Name
0 2 Model Number
Expand Down Expand Up @@ -35,16 +26,6 @@ Address Size Data Name
60 2 SyncTable Write Size
378 2 Indirect Address
634 1 Indirect Data
72 1 Hardware Error Status
73 1 Moving
74 2 Present Current
76 4 Present Velocity
80 4 Present Position
84 4 Position Trajectory
200 1 Torque Enable
202 2 Goal Current
204 4 Goal Velocity
208 4 Goal Position
378 2 Indirect Address 1
634 1 Indirect Data 1
378 2 Indirect Address Write
Expand Down
21 changes: 21 additions & 0 deletions param/dxl_model/omy_end_rh_p12_rn.model
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
[type info]
name value
value_of_zero_radian_position 0
value_of_max_radian_position 740
value_of_min_radian_position -740
min_radian -1.099
max_radian 1.099
velocity_unit 0.114

[control table]
Address Size Data Name
72 1 Hardware Error Status
73 1 Moving
74 2 Present Current
76 4 Present Velocity
80 4 Present Position
84 4 Position Trajectory
200 1 Torque Enable
202 2 Goal Current
204 4 Goal Velocity
208 4 Goal Position
4 changes: 4 additions & 0 deletions param/dxl_model/omy_hat.model
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Expand Up @@ -33,3 +33,7 @@ Address Size Data Name
560 1 SyncTable Read Data
688 1 SyncTable Write Data
816 1 Indirect Data
112 2 Indirect Address Write
816 1 Indirect Data Write
Comment on lines +36 to +37
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@gemini-code-assist gemini-code-assist bot Jun 23, 2025

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critical

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.

176 2 Indirect Address Read
848 1 Indirect Data Read
28 changes: 28 additions & 0 deletions src/dynamixel/dynamixel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1834,6 +1834,20 @@ DxlError Dynamixel::SetDxlValueToSyncWrite()
int16_t goal_current = dxl_info_.ConvertEffortToCurrent(ID, data);
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_[comm_id].item_size.at(item_index) == 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));
} else if (indirect_info_write_[comm_id].item_size.at(item_index) == 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);
} else if (indirect_info_write_[comm_id].item_size.at(item_index) == 1) {
param_write_value[added_byte] = static_cast<uint8_t>(data);
}
}
Comment on lines +1837 to 1851
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@gemini-code-assist gemini-code-assist bot Jun 23, 2025

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medium

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;
          }
        }
      }

added_byte += indirect_info_write_[comm_id].item_size.at(item_index);
}
Expand Down Expand Up @@ -2053,6 +2067,20 @@ DxlError Dynamixel::SetDxlValueToBulkWrite()
int16_t goal_current = dxl_info_.ConvertEffortToCurrent(ID, data);
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_[comm_id].item_size.at(item_index) == 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));
} else if (indirect_info_write_[comm_id].item_size.at(item_index) == 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);
} else if (indirect_info_write_[comm_id].item_size.at(item_index) == 1) {
param_write_value[added_byte] = static_cast<uint8_t>(data);
}
}
Comment on lines +2070 to 2084
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@gemini-code-assist gemini-code-assist bot Jun 23, 2025

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medium

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

added_byte += indirect_info_write_[comm_id].item_size.at(item_index);
}
Expand Down
6 changes: 4 additions & 2 deletions src/dynamixel_hardware_interface.cpp
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Expand Up @@ -497,9 +497,11 @@ hardware_interface::CallbackReturn DynamixelHardware::start()

CalcTransmissionToJoint();

// sync commands = states joint
SyncJointCommandWithStates();
std::this_thread::sleep_for(std::chrono::milliseconds(500));

CalcJointToTransmission();

dxl_comm_->WriteMultiDxlData();

// Enable torque only for Dynamixels that have torque enabled in their parameters
std::vector<uint8_t> torque_enabled_ids;
Expand Down
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