Bump 1.4.15

[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 significantly enhances the diagnostic capabilities and robustness of the dynamixel_hardware_interface by introducing comprehensive hardware error handling for Dynamixel Y series motors. It centralizes error definitions, refines the device initialization process to provide more detailed error messages, and improves the interpretation of error codes during read operations, leading to more informative feedback and stable system behavior.

Highlights

• Enhanced Hardware Error Reporting: Implemented detailed error handling for Dynamixel Y series, providing specific descriptions for hardware status bits and error codes during device initialization.
• Code Refactoring: Moved hardware error status and error code definitions from dynamixel_hardware_interface.hpp to dynamixel.hpp for better organization and encapsulation.
• Improved Error Handling Logic: Modified the ReadItem function to differentiate between critical errors and informational 'alert' errors, preventing unnecessary retries for alerts during read operations.
• Version Update: The package version has been incremented to 1.4.15 to reflect these changes.

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[gemini-code-assist]

Code Review

This pull request introduces improved hardware error handling, primarily for the Dynamixel Y series, and refactors some code for better organization. The version is bumped to 1.4.15. My review focuses on the correctness of the new error handling logic. I've found a few critical issues related to unchecked return values and incorrect error signaling that could lead to undefined behavior. I've also included a suggestion for a minor performance improvement.

[gemini-code-assist]

The return values of the ReadItem calls on lines 225 and 249 are not checked. If ReadItem fails (for instance, due to a communication error), the variables hw_error_status and error_code will remain uninitialized. Using these uninitialized variables in the subsequent error processing logic leads to undefined behavior. It's critical to validate that ReadItem succeeded before using the data it was supposed to populate, for example by wrapping the logic in an if (ReadItem(...) == DxlError::OK) block.

[gemini-code-assist]

When an alert packet is detected (is_alert is true), the function returns DxlError::OK but does not update the data output parameter. This violates the function's contract. A caller receiving DxlError::OK will incorrectly assume the read was successful and that data holds a valid, newly read value. This can lead to using stale or uninitialized data. The function should return an appropriate error code, like DxlError::ITEM_READ_FAIL, to signal that the read did not complete successfully.

      bool is_alert = dxl_error & 0x80;
      if (is_alert) {
        fprintf(
          stderr,
          "[ReadItem][ID:%03d][comm_id:%03d] RX_PACKET_ERROR : %s\n",
          id,
          comm_id,
          packet_handler_->getRxPacketError(dxl_error));
        return DxlError::ITEM_READ_FAIL;
      }

[gemini-code-assist]

Repeatedly concatenating strings with the + operator inside a loop can be inefficient, as it may create and destroy temporary std::string objects in each iteration. Using std::string::append is generally more performant for this pattern.

              error_string.append(bit_info->label);
              error_string.append(" (").append(bit_info->description).append(")/ ");