Bump 1.4.9

[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 primarily updates the dynamixel_hardware_interface package to version 1.4.9. The core changes involve expanding support for new Dynamixel models, particularly 'ffw sensor models,' and refining the internal communication logic for multi-Dynamixel read and write operations to enhance robustness and correctness.

Highlights

• Version Bump: I've updated the package version from 1.4.8 to 1.4.9 in package.xml and CHANGELOG.rst.
• New Dynamixel Model Support: I've added definitions for several new Dynamixel models, including omy_hat, omy_end, sensorxel_joy, ffw_g40_imu, ffw_g10_led, ffw_g10_rcu, and the ffw_sg2 series, by updating param/dxl_model/dynamixel.model and introducing new model definition files like ffw_g10_led.model and ffw_g40_imu.model.
• Communication Logic Refinement: I've refined the logic in src/dynamixel/dynamixel.cpp for determining the appropriate read and write types (SYNC or BULK) for multi-Dynamixel operations. The checkReadType and checkWriteType functions are now always consulted, and specific handling has been added for single-item operations to ensure correct bulk/sync selection, especially when indirect read/write is not available.
• Error Handling Improvement: I've corrected the SetMultiDxlWrite function in src/dynamixel/dynamixel.cpp to properly propagate the error status returned by its internal SetSyncWriteItemAndHandler or SetBulkWriteItemAndHandler calls, rather than always returning DxlError::OK.

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[gemini-code-assist]

Code Review

This pull request bumps the package version to 1.4.9 and adds support for new ffw sensor models. The changes include adding new model definition files and updating the core dynamixel.cpp logic to correctly handle devices that may not support indirect addressing, which is a key improvement for broader hardware compatibility. The error propagation in the write setup has also been critically improved. I've left a few comments for your consideration.

[DongyunRobotis]

LGTM