Bump 1.4.10 #68

yun-goon · 2025-07-18T11:52:42Z

No description provided.

… conversions in Dynamixel class

…te model files for unit information

…e and model file processing

…ges in DynamixelHardware

…ixel classes

…pendency

…guage specification

…iple Dynamixel model files

…elHardware

…tency in Dynamixel hardware interface files

…into CMake configuration for improved build settings

…ce in CMake configuration

…and updating compiler settings

…ganization

…el hardware interface and related files

…hecks for consistency

…reamline code

Added Dynamixel Y error code handling logic

gemini-code-assist

Summary of Changes

Hello @yun-goon, 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 upgrades the dynamixel_hardware_interface package to version 1.4.10. The core changes revolve around introducing a more flexible and robust unit conversion system for Dynamixel data, significantly improving error reporting with detailed diagnostics, and enhancing the package's build and installation process for better integration within the ROS 2 ecosystem.

Highlights

New Unit Conversion System: I've implemented a generic unit conversion system for Dynamixel control items. This replaces previous hardcoded conversions for position, velocity, and current, making the system more flexible and extensible. This is achieved by introducing a new [unit info] section in the Dynamixel model files, which defines conversion values and sign types for various data names.
Enhanced Dynamixel Error Handling: I've added comprehensive support for interpreting and reporting Dynamixel Y Error Codes (register 153) and detailed Hardware Error Status bits. This provides more granular and human-readable error diagnostics, including a new service to retrieve error summaries for individual Dynamixels or all connected devices.
Improved CMake Configuration: I've updated the CMakeLists.txt to properly export library targets and refine installation rules. This aligns the package better with ROS 2 best practices, making it easier for other projects to discover and link against this library.
Refactored Torque Control and Parameter Handling: I've streamlined the internal management of torque-enabled Dynamixels and updated the torque control service to be non-blocking, improving the system's responsiveness. Additionally, I've added more robust parameter validation during initialization and made several parameters optional with default values, enhancing the overall robustness and flexibility of the hardware interface.

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gemini-code-assist

Code Review

This pull request bumps the package version to 1.4.10 and introduces significant improvements, including a new data-driven unit system for model files and enhanced error code handling and reporting. The CMake configuration has also been modernized.

The review has identified a few issues:

Critical: The logic for determining SYNC vs. BULK operations in checkReadType and checkWriteType is flawed and could lead to incorrect device communication.
High: There's a potential data overflow when calculating the size for bulk read/write operations, which could cause them to fail or behave unexpectedly.
Medium: Several new functions pass std::string by value, which is inefficient and should be changed to pass by const reference.

These issues should be addressed to ensure the correctness and performance of the new features.

gemini-code-assist · 2025-07-18T11:56:01Z

src/dynamixel/dynamixel.cpp

+    if (read_data_list_.at(dxl_index).item_size.size() !=
+      read_data_list_.at(dxl_index - 1).item_size.size())
    {
      return BULK;
    }
-    for (size_t item_index = 0; item_index < read_data_list_.at(dxl_index).item_name.size();
+    for (size_t item_index = 0; item_index < read_data_list_.at(dxl_index).item_size.size();
      item_index++)
    {
-      if (read_data_list_.at(dxl_index).item_name.at(item_index) !=
-        read_data_list_.at(dxl_index - 1).item_name.at(item_index) ||
-        read_data_list_.at(dxl_index).item_addr.at(item_index) !=
-        read_data_list_.at(dxl_index - 1).item_addr.at(item_index) ||
-        read_data_list_.at(dxl_index).item_size.at(item_index) !=
+      if (read_data_list_.at(dxl_index).item_size.at(item_index) !=
        read_data_list_.at(dxl_index - 1).item_size.at(item_index))
      {


The logic to determine whether to use SYNC or BULK read has been simplified to only check for matching item sizes. The previous implementation also checked for matching item_name and item_addr, which is crucial for correctness. Without these checks, devices with different control items but coincidentally matching item sizes could be incorrectly grouped for a SYNC operation, leading to reading from wrong addresses. This is a critical bug. Please restore the checks for item_addr and item_name.

Suggested change

if (read_data_list_.at(dxl_index).item_size.size() !=

read_data_list_.at(dxl_index - 1).item_size.size())

{

return BULK;

}

for (size_t item_index = 0; item_index < read_data_list_.at(dxl_index).item_name.size();

for (size_t item_index = 0; item_index < read_data_list_.at(dxl_index).item_size.size();

item_index++)

{

if (read_data_list_.at(dxl_index).item_name.at(item_index) !=

read_data_list_.at(dxl_index - 1).item_name.at(item_index) ||

read_data_list_.at(dxl_index).item_addr.at(item_index) !=

read_data_list_.at(dxl_index - 1).item_addr.at(item_index) ||

read_data_list_.at(dxl_index).item_size.at(item_index) !=

if (read_data_list_.at(dxl_index).item_size.at(item_index) !=

read_data_list_.at(dxl_index - 1).item_size.at(item_index))

{

for (size_t item_index = 0; item_index < read_data_list_.at(dxl_index).item_size.size();

item_index++)

{

if (read_data_list_.at(dxl_index).item_size.at(item_index) !=

read_data_list_.at(dxl_index - 1).item_size.at(item_index))

{

return BULK;

}

}

gemini-code-assist · 2025-07-18T11:56:02Z

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

+  bool GetDxlUnitValue(uint8_t id, std::string data_name, double & unit_value);
+  bool GetDxlSignType(uint8_t id, std::string data_name, bool & is_signed);
+
+  // Template-based conversion methods
+  template<typename T>
+  double ConvertValueToUnit(uint8_t id, std::string data_name, T value);
+
+  template<typename T>
+  T ConvertUnitToValue(uint8_t id, std::string data_name, double unit_value);
+
+  // Helper method for internal use
+  double GetUnitMultiplier(uint8_t id, std::string data_name);


The data_name parameter in GetDxlUnitValue, GetDxlSignType, ConvertValueToUnit, ConvertUnitToValue, and GetUnitMultiplier is passed by value. This causes an unnecessary copy of the string every time these functions are called, which can be inefficient, especially in performance-sensitive code. Please pass std::string by const reference instead.

Suggested change

bool GetDxlUnitValue(uint8_t id, std::string data_name, double & unit_value);

bool GetDxlSignType(uint8_t id, std::string data_name, bool & is_signed);

// Template-based conversion methods

template<typename T>

double ConvertValueToUnit(uint8_t id, std::string data_name, T value);

template<typename T>

T ConvertUnitToValue(uint8_t id, std::string data_name, double unit_value);

// Helper method for internal use

double GetUnitMultiplier(uint8_t id, std::string data_name);

bool GetDxlUnitValue(uint8_t id, const std::string &data_name, double & unit_value);

bool GetDxlSignType(uint8_t id, const std::string &data_name, bool & is_signed);

// Template-based conversion methods

template<typename T>

double ConvertValueToUnit(uint8_t id, const std::string &data_name, T value);

template<typename T>

T ConvertUnitToValue(uint8_t id, const std::string &data_name, double unit_value);

// Helper method for internal use

double GetUnitMultiplier(uint8_t id, const std::string &data_name);

gemini-code-assist · 2025-07-18T11:56:02Z

src/dynamixel/dynamixel.cpp

 DxlError Dynamixel::ProcessDirectReadData(
  uint8_t comm_id,
  const std::vector<uint16_t> & item_addrs,
+  const std::vector<std::string> & item_names,


The item_names parameter is passed by value, which creates an unnecessary copy of the string. For performance, it's better to pass it by const reference. This also applies to ConvertUnitValueToRawValue.

Suggested change

const std::vector<std::string> & item_names,

DxlError Dynamixel::ProcessDirectReadData(

uint8_t comm_id,

const std::vector<uint16_t> & item_addrs,

const std::vector<const std::string &> & item_names,

const std::vector<uint8_t> & item_sizes,

Woojin-Crive added 23 commits July 8, 2025 15:21

feat: Enhance ProcessDirectReadData to handle item names for specific…

5fe935a

… conversions in Dynamixel class

feat: Introduce unit and sign type handling in DynamixelInfo and upda…

3dc9b00

…te model files for unit information

feat: Introduce error handling for Dynamixel Y

bba2456

refactor: Remove torque_constant handling from DynamixelInfo structur…

89ad779

…e and model file processing

refactor: Replace std::cout with RCLCPP logging for torque state chan…

9b25da6

…ges in DynamixelHardware

refactor: Update CMake configuration and improve type safety in Dynam…

d8b7687

…ixel classes

chore: Update package.xml to include ros2_control_cmake as a build de…

a3a5325

…pendency

chore: Simplify CMake project declaration by removing unnecessary lan…

8469698

…guage specification

refactor: Remove Profile Acceleration Time and Profile Time from mult…

db3dd4e

…iple Dynamixel model files

refactor: Remove Profile Time from multiple Dynamixel model files

5697918

refactor: Improve error logging formatting and consistency in Dynamix…

fa57a41

…elHardware

refactor: Enhance code readability by improving formatting and consis…

f35f3ea

…tency in Dynamixel hardware interface files

refactor: Integrate compiler option macros and GCC version detection …

f60627c

…into CMake configuration for improved build settings

refactor: Remove ros2_control_cmake subproject from the repository

e927501

refactor: Remove ros2_control_cmake build dependency from package.xml

9ca2fa3

refactor: Replace hardware_interface dependency with variable referen…

433071d

…ce in CMake configuration

refactor: Simplify CMake configuration by removing deprecated macros …

0e5cf24

…and updating compiler settings

refactor: Update CMake installation paths for improved clarity and or…

67c4dab

…ganization

refactor: Improve error logging formatting and consistency in Dynamix…

152a338

…el hardware interface and related files

refactor: Update item comparison logic in Dynamixel read/write type c…

2fd4c4b

…hecks for consistency

chore: Update version to 1.4.10 and add new features in CHANGELOG

73687aa

refactor: Remove unused UnitItem struct from dynamixel_info.hpp to st…

ccb8c01

…reamline code

Merge pull request #65 from ROBOTIS-GIT/feature-dy-error-code

cc338de

Added Dynamixel Y error code handling logic

yun-goon assigned robotpilot Jul 18, 2025

yun-goon added this to Platform Jul 18, 2025

yun-goon added the bump Increase the version number to release label Jul 18, 2025

github-project-automation bot moved this to 🌱 Todo in Platform Jul 18, 2025

gemini-code-assist bot reviewed Jul 18, 2025

View reviewed changes

Woojin-Crive moved this from 🌱 Todo to 📝 Pull Request in Platform Jul 18, 2025

robotpilot merged commit 2dd0c7c into humble Jul 18, 2025
25 checks passed

github-project-automation bot moved this from 📝 Pull Request to 🚩Done in Platform Jul 18, 2025

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Bump 1.4.10 #68

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yun-goon commented Jul 18, 2025

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