Bump 1.4.8 #56

Woojin-Crive · 2025-06-23T07:33:22Z

No description provided.

Signed-off-by: Hyungyu Kim <[email protected]>

add rosdep ci

…namixel model list

…ToBulkWrite for varying item sizes

…rite configurations

…ion write for OMY sync table

…features and synchronization improvements

Add new model configuration for OMY end tool

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, primarily to introduce support for a new OMY series Dynamixel model (omy_end_rh_p12_rn) and to enhance the hardware interface's startup procedure. The changes ensure that goal positions are synchronized before motor torque is enabled, and generalize the underlying Dynamixel communication to support more flexible indirect write operations for various data types.

Highlights

New OMY Model Support: A new Dynamixel model, omy_end_rh_p12_rn (ID 231), has been introduced. Its specific control table and type information are now defined in a dedicated model file (omy_end_rh_p12_rn.model), allowing for better modularity and support for this new hardware configuration. This involved refactoring omy_end.model to generalize it by removing specific control table entries and type info, which were then moved to the new model file.
Goal Position Synchronization Before Torque Enable: The hardware interface startup sequence in dynamixel_hardware_interface.cpp has been modified to explicitly synchronize goal positions for Dynamixels by calling dxl_comm_->WriteMultiDxlData() after calculating joint to transmission values and before enabling torque. This ensures that the motors start from a desired position, which is particularly relevant for the new OMY sync table feature, and removes a previously fixed 500ms sleep.
Generalized Indirect Write Operations: The SetDxlValueToSyncWrite() and SetDxlValueToBulkWrite() methods in dynamixel.cpp have been enhanced. They now support writing various data sizes (1, 2, or 4 bytes) for indirect addresses, making the communication with Dynamixels more flexible and robust for different control table items beyond just goal_current.
Package Version Update: The package version has been incremented from 1.4.7 to 1.4.8 in package.xml and documented in CHANGELOG.rst, reflecting the new features and improvements introduced in this pull request.

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Code Review

The pull request updates the dynamixel_hardware_interface package to version 1.4.8, adding a new model for OMY to use virtual_dxl and synchronizing goal positions before enabling torque for OMY sync table features. The code changes include modifications to the dynamixel.cpp and dynamixel_hardware_interface.cpp files to improve data handling and synchronization.

gemini-code-assist · 2025-06-23T07:35:22Z

src/dynamixel/dynamixel.cpp

+      } 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);
+        }
      }


Consider adding a default case to the if/else if block to handle unexpected item_size values. This can help prevent unexpected behavior if a new item size is introduced in the future.

Suggested change

} 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);

}

}

} 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);

} else {

// Handle unexpected item size

fprintf(stderr, "[ID:%03d] Unexpected item size: %d\n", ID, indirect_info_write_[comm_id].item_size.at(item_index));

}

}

gemini-code-assist · 2025-06-23T07:35:22Z

src/dynamixel/dynamixel.cpp

+        } 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);
+          }
        }


Consider adding a default case to the if/else if block to handle unexpected item_size values. This can help prevent unexpected behavior if a new item size is introduced in the future.

Suggested change

} 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);

}

}

} 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);

} else {

// Handle unexpected item size

fprintf(stderr, "[ID:%03d] Unexpected item size: %d\n", ID, indirect_info_write_[comm_id].item_size.at(item_index));

}

}

GyuH13 and others added 9 commits June 20, 2025 08:53

add rosdep ci

eb407cb

Signed-off-by: Hyungyu Kim <[email protected]>

Merge pull request #53 from ROBOTIS-GIT/feature-rosdep-ci

98be8ba

add rosdep ci

feat: Add new model configuration for omy_end_rh_p12_rn and update dy…

39ec66e

…namixel model list

feat: Enhance data handling in SetDxlValueToSyncWrite and SetDxlValue…

820bd44

…ToBulkWrite for varying item sizes

feat: Add indirect data handling to omy_hat model with new read and w…

6e9a7bc

…rite configurations

refactor: Remove unused parameters from omy_end model configuration

e4e8544

feat: Update joint synchronization process by adding prior goal posit…

d7f8428

…ion write for OMY sync table

chore: Bump version to 1.4.8 and update changelog with new OMY model …

710eab9

…features and synchronization improvements

Merge pull request #54 from ROBOTIS-GIT/feature-omy-end

f519f98

Add new model configuration for OMY end tool

Woojin-Crive requested a review from robotpilot June 23, 2025 07:33

Woojin-Crive assigned robotpilot Jun 23, 2025

Woojin-Crive added the bump Increase the version number to release label Jun 23, 2025

Woojin-Crive added this to Platform Jun 23, 2025

github-project-automation bot moved this to 🌱 Todo in Platform Jun 23, 2025

gemini-code-assist bot reviewed Jun 23, 2025

View reviewed changes

Woojin-Crive moved this from 🌱 Todo to 📝 Pull Request in Platform Jun 23, 2025

gemini-code-assist bot reviewed Jun 23, 2025

View reviewed changes

robotpilot merged commit 5522a48 into humble Jun 23, 2025
25 checks passed

github-project-automation bot moved this from 📝 Pull Request to 🚩Done in Platform Jun 23, 2025

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