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Merged
merged 10 commits into from
Jul 23, 2025
Merged

Bump 1.4.11 #71

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867ddff
feat: Enhance Dynamixel model file handling with firmware version sup…
Woojin-Crive Jul 21, 2025
6c2d546
refactor: Improve code readability by standardizing formatting and sp…
Woojin-Crive Jul 21, 2025
d8fcbaa
refactor: Standardize error message formatting and improve readabilit…
Woojin-Crive Jul 21, 2025
879d7b6
refactor: Standardize quotation marks in licensing comments for consi…
Woojin-Crive Jul 21, 2025
cd74961
refactor: Remove unused firmware-specific model file checks to simpli…
Woojin-Crive Jul 21, 2025
9f5b764
chore: Bump version to 1.4.11 and update CHANGELOG with firmware vers…
Woojin-Crive Jul 21, 2025
32c6921
refactor: Improve code readability by enhancing formatting in Dynamix…
Woojin-Crive Jul 21, 2025
ce9f662
refactor: Comment out debug logging for firmware version selection in…
Woojin-Crive Jul 22, 2025
7811016
fix: Correct spelling of 'Hybrid Saveve' to 'Hybrid Save' in multiple…
Woojin-Crive Jul 22, 2025
7cc59f3
Merge pull request #69 from ROBOTIS-GIT/feature-firmware-based-model
Woojin-Crive Jul 23, 2025
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5 changes: 5 additions & 0 deletions CHANGELOG.rst
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Expand Up @@ -2,6 +2,11 @@
Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.11 (2025-07-21)
------------------
* Added support for firmware version-aware model file selection
* Contributors: Woojin Wie

1.4.10 (2025-07-18)
------------------
* Added unit system to model files
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2 changes: 2 additions & 0 deletions include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp
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Expand Up @@ -212,6 +212,8 @@ class Dynamixel
static std::string DxlErrorToString(DxlError error_num);

DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num);
DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t firmware_version);
DxlError ReadFirmwareVersion(uint8_t id, uint8_t & firmware_version);

void SetCommId(uint8_t id, uint8_t comm_id) {comm_id_[id] = comm_id;}

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11 changes: 11 additions & 0 deletions include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
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Expand Up @@ -25,6 +25,7 @@
#include <map>
#include <string>
#include <vector>
#include <regex>

#include <boost/algorithm/string.hpp>

Expand All @@ -46,6 +47,7 @@ typedef struct
int32_t value_of_max_radian_position;
int32_t value_of_min_radian_position;
uint16_t model_num;
uint8_t firmware_version;

std::vector<ControlItem> item;
std::map<std::string, double> unit_map;
Expand All @@ -60,6 +62,12 @@ class DynamixelInfo

std::string dxl_model_file_dir;

// Firmware version-aware model file selection
std::string SelectModelFileByFirmwareVersion(
const std::string & base_model_name,
uint8_t firmware_version);
uint8_t ExtractFirmwareVersionFromFilename(const std::string & filename);

public:
// Id, Control table
std::map<uint8_t, DxlInfo> dxl_info_;
Expand All @@ -71,6 +79,7 @@ class DynamixelInfo
void InitDxlModelInfo();

void ReadDxlModelFile(uint8_t id, uint16_t model_num);
void ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t firmware_version);
bool GetDxlControlItem(uint8_t id, std::string item_name, uint16_t & addr, uint8_t & size);
bool CheckDxlControlItem(uint8_t id, std::string item_name);

Expand All @@ -89,6 +98,8 @@ class DynamixelInfo

int32_t ConvertRadianToValue(uint8_t id, double radian);
double ConvertValueToRadian(uint8_t id, int32_t value);

std::string GetModelName(uint16_t model_number) const;
};

// Template implementations
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2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>dynamixel_hardware_interface</name>
<version>1.4.10</version>
<version>1.4.11</version>
<description>
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
</description>
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6 changes: 3 additions & 3 deletions param/dxl_model/xc330_m181.model
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Expand Up @@ -66,8 +66,8 @@ Address Size Data Name
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
224 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
224 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
230 1 Indirect Data Read
Comment on lines +69 to +73
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medium

The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.

73 changes: 73 additions & 0 deletions param/dxl_model/xc330_m181_fw52.model
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@@ -0,0 +1,73 @@
[type info]
name value
value_of_zero_radian_position 2048
value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed

[control table]
Address Size Data Name
0 2 Model Number
2 4 Model Information
6 1 Firmware Version
7 1 ID
8 1 Baud Rate
9 1 Return Delay Time
10 1 Drive Mode
11 1 Operating Mode
12 1 Secondary(Shadow) ID
13 1 Protocol Type
20 4 Homing Offset
24 4 Moving Threshold
31 1 Temperature Limit
32 2 Max Voltage Limit
34 2 Min Voltage Limit
36 2 PWM Limit
38 2 Current Limit
44 4 Velocity Limit
48 4 Max Position Limit
52 4 Min Position Limit
62 1 PWM Slope
63 1 Shutdown
64 1 Torque Enable
65 1 LED
68 1 Status Return Level
69 1 Registered Instruction
70 1 Hardware Error Status
76 2 Velocity I Gain
78 2 Velocity P Gain
80 2 Position D Gain
82 2 Position I Gain
84 2 Position P Gain
88 2 Feedforward 2nd Gain
90 2 Feedforward 1st Gain
98 1 Bus Watchdog
100 2 Goal PWM
102 2 Goal Current
104 4 Goal Velocity
108 4 Profile Acceleration
112 4 Profile Velocity
116 4 Goal Position
120 2 Realtime Tick
122 1 Moving
123 1 Moving Status
124 2 Present PWM
126 2 Present Current
128 4 Present Velocity
132 4 Present Position
136 4 Velocity Trajectory
140 4 Position Trajectory
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
6 changes: 3 additions & 3 deletions param/dxl_model/xc330_m288.model
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Original file line number Diff line number Diff line change
Expand Up @@ -66,8 +66,8 @@ Address Size Data Name
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
224 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
224 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
230 1 Indirect Data Read
Comment on lines +69 to +73
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medium

The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.

73 changes: 73 additions & 0 deletions param/dxl_model/xc330_m288_fw52.model
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Original file line number Diff line number Diff line change
@@ -0,0 +1,73 @@
[type info]
name value
value_of_zero_radian_position 2048
value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed

[control table]
Address Size Data Name
0 2 Model Number
2 4 Model Information
6 1 Firmware Version
7 1 ID
8 1 Baud Rate
9 1 Return Delay Time
10 1 Drive Mode
11 1 Operating Mode
12 1 Secondary(Shadow) ID
13 1 Protocol Type
20 4 Homing Offset
24 4 Moving Threshold
31 1 Temperature Limit
32 2 Max Voltage Limit
34 2 Min Voltage Limit
36 2 PWM Limit
38 2 Current Limit
44 4 Velocity Limit
48 4 Max Position Limit
52 4 Min Position Limit
62 1 PWM Slope
63 1 Shutdown
64 1 Torque Enable
65 1 LED
68 1 Status Return Level
69 1 Registered Instruction
70 1 Hardware Error Status
76 2 Velocity I Gain
78 2 Velocity P Gain
80 2 Position D Gain
82 2 Position I Gain
84 2 Position P Gain
88 2 Feedforward 2nd Gain
90 2 Feedforward 1st Gain
98 1 Bus Watchdog
100 2 Goal PWM
102 2 Goal Current
104 4 Goal Velocity
108 4 Profile Acceleration
112 4 Profile Velocity
116 4 Goal Position
120 2 Realtime Tick
122 1 Moving
123 1 Moving Status
124 2 Present PWM
126 2 Present Current
128 4 Present Velocity
132 4 Present Position
136 4 Velocity Trajectory
140 4 Position Trajectory
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
6 changes: 3 additions & 3 deletions param/dxl_model/xc330_t181.model
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ Address Size Data Name
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
224 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
224 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
230 1 Indirect Data Read
Comment on lines +71 to +75
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medium

The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.

75 changes: 75 additions & 0 deletions param/dxl_model/xc330_t181_fw52.model
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Original file line number Diff line number Diff line change
@@ -0,0 +1,75 @@
[type info]
name value
value_of_zero_radian_position 2048
value_of_max_radian_position 4095
value_of_min_radian_position 0
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0006709470296015791 N/m signed
Goal Current 0.0006709470296015791 N/m signed

[control table]
Address Size Data Name
0 2 Model Number
2 4 Model Information
6 1 Firmware Version
7 1 ID
8 1 Baud Rate
9 1 Return Delay Time
10 1 Drive Mode
11 1 Operating Mode
12 1 Secondary(Shadow) ID
13 1 Protocol Type
20 4 Homing Offset
24 4 Moving Threshold
31 1 Temperature Limit
32 2 Max Voltage Limit
34 2 Min Voltage Limit
36 2 PWM Limit
38 2 Current Limit
44 4 Velocity Limit
48 4 Max Position Limit
52 4 Min Position Limit
62 1 PWM Slope
63 1 Shutdown
64 1 Torque Enable
65 1 LED
68 1 Status Return Level
69 1 Registered Instruction
70 1 Hardware Error Status
76 2 Velocity I Gain
78 2 Velocity P Gain
80 2 Position D Gain
82 2 Position I Gain
84 2 Position P Gain
88 2 Feedforward 2nd Gain
90 2 Feedforward 1st Gain
98 1 Bus Watchdog
100 2 Goal PWM
102 2 Goal Current
104 4 Goal Velocity
108 4 Profile Acceleration
112 4 Profile Velocity
116 4 Goal Position
120 2 Realtime Tick
122 1 Moving
123 1 Moving Status
124 2 Present PWM
126 2 Present Current
128 4 Present Velocity
132 4 Present Position
136 4 Velocity Trajectory
140 4 Position Trajectory
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
6 changes: 3 additions & 3 deletions param/dxl_model/xc330_t288.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ Address Size Data Name
144 2 Present Input Voltage
146 1 Present Temperature
168 2 Indirect Address 1
208 1 Indirect Data 1
224 1 Indirect Data 1
168 2 Indirect Address Write
208 1 Indirect Data Write
224 1 Indirect Data Write
180 2 Indirect Address Read
214 1 Indirect Data Read
230 1 Indirect Data Read
Comment on lines +71 to +75
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medium

The addresses for Indirect Data 1, Indirect Data Write, and Indirect Data Read have been changed from 208, 208, and 214 to 224, 224, and 230 respectively. Ensure that these changes are intentional and align with the updated memory map for the device.

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