Support ffw sensor board

[Woojin-Crive]

Support ffw sensor board

[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 primarily introduces support for new 'ffw' series sensor boards by integrating their control table definitions. It also includes a minor refinement to the Dynamixel communication logic, streamlining how multi-read and multi-write operations determine their communication type, and updates the package version.

Highlights

• Dynamixel Model Catalog Update: The dynamixel.model file has been updated to include new model IDs for various ffw and omy series devices, ensuring they are recognized by the system. Some existing entries were also reordered for better organization.
• Communication Logic Refinement: The internal logic within src/dynamixel/dynamixel.cpp for SetMultiDxlRead and SetMultiDxlWrite functions has been simplified. Redundant checks based on list size were removed, ensuring the communication type (sync or bulk) is consistently determined by the checkReadType() and checkWriteType() methods.
• Package Version Update: The package version has been incremented to 1.4.9 in package.xml and noted in CHANGELOG.rst to reflect these new features and changes.

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[gemini-code-assist]

Code Review

This pull request introduces support for new ffw sensor board models by adding their control table definitions and updating the dynamixel.model lookup file. It also includes minor code cleanups in src/dynamixel/dynamixel.cpp by removing redundant checks for list sizes before determining read/write types, which is a positive simplification. The changes are well-contained and directly address the stated objective. One minor typo was identified in a new model file.

[DongyunRobotis]

LGTM