Skip to content

Support default unit for Present Input Voltage in model files #90

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Oct 14, 2025
Merged

Support default unit for Present Input Voltage in model files #90

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8999562
chore: Bump version to 1.4.16 and update CHANGELOG with support for P…
Woojin-Crive Oct 14, 2025
ab71fd5
fix: Correct Present Input Voltage value in omy_hat model file from 0…
Woojin-Crive Oct 14, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions CHANGELOG.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@
Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.16 (2025-10-14)
-------------------
* Added support for default unit information for Present Input Voltage to model files
* Contributors: Woojin Wie

1.4.15 (2025-09-17)
-------------------
* Added support for hardware error handling for Dynamixel Y series
Expand Down
2 changes: 1 addition & 1 deletion package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
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>1.4.15</version>
<version>1.4.16</version>
<description>
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
</description>
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/2xc430_w250.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/2xl430_w250.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_1.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_2.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_3.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_1.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_2.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_3.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/h42_20_s300_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/h54_100_s500_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/h54_200_s500_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/m42_10_s260_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/m54_40_s250_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/m54_60_s250_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/mx_106.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/mx_28.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/mx_64.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
4 changes: 4 additions & 0 deletions param/dxl_model/omy_hat.model
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,7 @@
[unit info]
Data Name value unit Sign Type
Present Input Voltage 0.01 V unsigned

[control table]
Address Size Data Name
0 2 Model Number
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ph42_020_s300.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ph54_100_s500.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/ph54_200_s500.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/pm42_010_s260.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/pm54_040_s250.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/pm54_060_s250.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/rh_p12_rn.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0119380521 rad/s signed
Goal Velocity 0.0119380521 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_m181.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_m181_fw52.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_m288.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_m288_fw52.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_t181.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ 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
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_t181_fw52.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ 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
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_t288.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0009674796739867748 N/m signed
Goal Current 0.0009674796739867748 N/m signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc330_t288_fw52.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0009674796739867748 N/m signed
Goal Current 0.0009674796739867748 N/m signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc430_w150.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xc430_w240.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xd430_t210.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xd430_t350.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xd540_t150.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xd540_t270.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh430_v210.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh430_v350.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh430_w210.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh430_w350.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh540_v150.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh540_v270.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh540_w150.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0045 N/m signed
Goal Current 0.0045 N/m signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
1 change: 1 addition & 0 deletions param/dxl_model/xh540_w270.model
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
Expand Down
Loading
Loading