Added default unit value for current

[Woojin-Crive]

Added default unit value for current

[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 introduces a standardization of current unit definitions across various Dynamixel motor model files. It updates the package version and changelog to reflect the addition of default 'Present Current' and 'Goal Current' parameters, ensuring consistency in how current values are handled within the system's motor configurations.

Highlights

• Package Version Update: The package.xml file has been updated to reflect the new version 1.4.13 for the dynamixel_hardware_interface package.
• Changelog Entry: The CHANGELOG.rst file now includes an entry for version 1.4.13, explicitly stating that default parameters for current units have been added to model files.
• Standardization of Current Units in Model Files: A significant number of Dynamixel motor model files (.model files) have been modified to include default 'Present Current' and 'Goal Current' entries. These entries standardize the current unit as 'raw' with a default value of 1.0 across various motor types.

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[gemini-code-assist]

Code Review

This pull request adds default unit values for current to a large number of Dynamixel model files. While the intention is good, the implementation has a critical flaw. The conversion factor for current is set to 1.0 for all models, which is incorrect. This will lead to wrong current readings and commands, as the raw values from the motors will be interpreted directly as Amperes.

I've left a specific comment on one of the model files (xh430_w210.model) with a detailed explanation and a suggested fix. This issue applies to all model files modified in this PR that support current control. Each model has a specific conversion factor for current, which can be found in its datasheet, and this value must be used instead of 1.0.

[sunghowoo]

Confirmed the reason for adding the current constant.