Added Dynamixel Y error code handling logic #65
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… conversions in Dynamixel class
…te model files for unit information
…e and model file processing
…ges in DynamixelHardware
…guage specification
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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 significantly enhances the robustness and flexibility of the Dynamixel hardware interface. It introduces a detailed error handling and reporting mechanism, allowing users to quickly diagnose issues with their Dynamixel motors. Furthermore, a new generic unit conversion system has been integrated, making the interface more adaptable to different Dynamixel models and their control item characteristics. The underlying build system has also been modernized for improved maintainability and compatibility.
Highlights
- Enhanced Error Handling and Reporting: Implemented comprehensive error code handling for Dynamixel motors, including detailed definitions for Hardware Error Status bits and specific Error Codes (address 153). A new service (
get_dxl_error_summary_srv) and helper functions (getErrorSummary,getAllErrorSummaries) were added to provide formatted error summaries, improving diagnostic capabilities. - Generic Unit Conversion System: Introduced a flexible unit conversion system for Dynamixel control items. This replaces hardcoded torque and velocity constants with dynamic unit and sign type mappings read from model files, allowing for more versatile data interpretation and command generation for various Dynamixel models.
- Build System Modernization: Updated the CMake build configuration to leverage modern CMake practices and
ros2_control_cmakemacros. This includes changes to minimum CMake version, compiler options, dependency finding, and installation rules, streamlining the build process and improving compatibility. - Refined Torque Management: Improved the logic for enabling and disabling Dynamixel torque, including checks for the existence of the 'Torque Enable' control item and more efficient tracking of torque-enabled IDs. The
set_dxl_torque_srv_callbackwas simplified to provide immediate feedback on the request status. - Parameter Validation and Logging: Added robust checks for required hardware parameters during initialization and improved logging for optional parameters and error conditions, enhancing the startup reliability and debuggability of the hardware interface.
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Code Review
This pull request introduces significant enhancements, including detailed error code handling for Dynamixel motors and a new unit conversion system. The CMake configuration has also been modernized, which is a great improvement. My review focuses on ensuring backward compatibility with the new unit system, maintaining the robustness of communication protocols, and clarifying behavioral changes in services. Overall, this is a valuable contribution to the project.
include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
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…iple Dynamixel model files
…tency in Dynamixel hardware interface files
…into CMake configuration for improved build settings
…ce in CMake configuration
…and updating compiler settings
…el hardware interface and related files
…hecks for consistency
Added Dynamixel Y error code handling logic
Added unit system