New pkg for IMU example, include rmw_zenoh for Dockerfile #10

Woojin-Crive · 2025-12-17T15:32:51Z

New pkg for IMU example, include rmw_zenoh for Dockerfile

… mount /dev/shm for improved resource sharing

…nal configuration

…gration with dynamixel_hardware_interface

gemini-code-assist · 2025-12-17T15:33:14Z

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 primarily enhances the existing dynamixel_hardware_interface examples by adding a new demonstration for integrating an IMU sensor. It also prepares the development environment for more robust ROS 2 communication by including rmw_zenoh in the Docker build and configuring Docker Compose for better resource sharing, which could benefit future ROS 2 applications requiring high-performance communication.

Highlights

New IMU Example Package: Introduced a new package, dynamixel_hardware_interface_example_2, which provides an example of using the dynamixel_hardware_interface with an IMU sensor within a ros2_control system.
Docker Environment Updates: The Dockerfile now includes rmw_zenoh for potential alternative RMW implementations, and the docker-compose.yml has been updated to enable ipc: host, pid: host, and mount /dev/shm for improved inter-process communication and shared memory access within the Docker container.
Version Bumps: Existing example packages (dynamixel_hardware_interface_example and dynamixel_hardware_interface_example_1) have had their versions updated to 0.0.4 in their setup.py and CHANGELOG.rst files.

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gemini-code-assist

Code Review

This pull request introduces a new package dynamixel_hardware_interface_example_2 for an IMU sensor example and updates the Docker configuration to include rmw_zenoh. The changes are generally good, but there are several issues in the new package that need to be addressed. These include an invalid YAML configuration file, a missing TF frame definition in the URDF, an incorrect default value for a launch argument, and a version mismatch in the setup.py file. I've left specific comments with suggestions to fix these critical and high-severity issues.

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/config/dynamixel_system.urdf.xacro

+  <xacro:dynamixel_system_ros2_control name="dynamixel_system" port_name="$(arg port_name)" baud_rate="$(arg baud_rate)"/>
+
+  <link name="$(arg prefix)base_link"/>
+


To resolve the missing imu_link TF frame required by ros2_controllers.yaml, you need to define the link and a joint connecting it to the robot's structure, for example, base_link.

<link name="$(arg prefix)imu_link"/> <joint name="imu_joint" type="fixed"> <parent link="$(arg prefix)base_link"/> <child link="$(arg prefix)imu_link"/> <origin xyz="0 0 0.1" rpy="0 0 0"/> </joint>

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/config/ros2_controllers.yaml

+/**:
+  controller_manager:
+    ros__parameters:
+      update_rate: 500  # Hz
+
+      joint_state_broadcaster:
+        type: joint_state_broadcaster/JointStateBroadcaster
+
+      imu_sensor_broadcaster:
+        type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+/**:
+  imu_sensor_broadcaster:
+    ros__parameters:
+      sensor_name: "imu"
+      frame_id: imu_link


This YAML file is invalid because the /**: key is duplicated. YAML does not allow duplicate keys at the same level, which will cause parsing errors. Please structure the parameters under their respective node and controller names.

controller_manager: ros__parameters: update_rate: 500 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster imu_sensor_broadcaster: type: imu_sensor_broadcaster/IMUSensorBroadcaster imu_sensor_broadcaster: ros__parameters: sensor_name: "imu" frame_id: imu_link

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/config/ros2_controllers.yaml

+  imu_sensor_broadcaster:
+    ros__parameters:
+      sensor_name: "imu"
+      frame_id: imu_link


The frame_id is set to imu_link, but this link is not defined in the dynamixel_system.urdf.xacro file. This will lead to TF (Transform) errors at runtime because the transform for imu_link will not be published. Please add the imu_link and a corresponding joint to your URDF.

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/launch/hardware.launch.py

+    declared_arguments.append(
+        DeclareLaunchArgument(
+            'prefix',
+            default_value='""',


The default value for the prefix argument is "", which is a string containing two double quotes. This will result in link names like ""base_link. To specify an empty prefix by default, the value should be an empty string ''.

Suggested change

default_value='""',

default_value='',

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/setup.py

+
+setup(
+    name=package_name,
+    version='0.0.3',


The package version here is '0.0.3', which is inconsistent with the version '0.0.4' specified in package.xml and CHANGELOG.rst. Please align the versions to ensure correct packaging and dependency resolution.

Suggested change

version='0.0.3',

version='0.0.4',

gemini-code-assist · 2025-12-17T15:34:59Z

dynamixel_hardware_interface_example_2/config/dynamixel_system.ros2_control.xacro

+        <state_interface name="orientation.x"/>
+        <state_interface name="orientation.y"/>
+        <state_interface name="orientation.z"/>
+        <param name="Return Delay Time">0</param>


The parameter name Return Delay Time contains spaces, which is unconventional for ROS parameters. The standard convention is to use snake_case (e.g., return_delay_time). If the dynamixel_hardware_interface plugin supports it, please consider renaming this parameter for consistency and improved maintainability.

Copilot

Pull request overview

This PR introduces a new example package (dynamixel_hardware_interface_example_2) demonstrating IMU sensor integration with the Dynamixel hardware interface, bumps version numbers across existing example packages to 0.0.4, and adds rmw_zenoh support to the Docker configuration.

New package dynamixel_hardware_interface_example_2 demonstrating IMU sensor integration with ros2_control
Version bump to 0.0.4 for all example packages
Docker configuration enhanced with rmw_zenoh support and additional host configurations

Reviewed changes

Copilot reviewed 17 out of 18 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
dynamixel_hardware_interface_example_2/setup.py	Python package setup for new IMU example package
dynamixel_hardware_interface_example_2/setup.cfg	Configuration for package installation paths
dynamixel_hardware_interface_example_2/package.xml	ROS 2 package manifest with dependencies including imu_sensor_broadcaster
dynamixel_hardware_interface_example_2/launch/hardware.launch.py	Launch file configuring ros2_control node with IMU sensor broadcaster
dynamixel_hardware_interface_example_2/config/ros2_controllers.yaml	Controller configuration for joint state and IMU sensor broadcasters
dynamixel_hardware_interface_example_2/config/dynamixel_system.urdf.xacro	Robot description wrapper with configurable port and baud rate
dynamixel_hardware_interface_example_2/config/dynamixel_system.ros2_control.xacro	ros2_control configuration defining IMU sensor interfaces and GPIO mapping
dynamixel_hardware_interface_example_2/README.md	Documentation for the IMU example usage
dynamixel_hardware_interface_example_2/CHANGELOG.rst	Changelog entry for the new package
dynamixel_hardware_interface_example_1/setup.py	Version bump to 0.0.4
dynamixel_hardware_interface_example_1/CHANGELOG.rst	Changelog entry for version 0.0.4
dynamixel_hardware_interface_example/setup.py	Version bump to 0.0.4
dynamixel_hardware_interface_example/CHANGELOG.rst	Changelog entry for version 0.0.4
dynamixel_hardware_interface_demos/package.xml	Added dependency on new example_2 package
dynamixel_hardware_interface_demos/CHANGELOG.rst	Changelog documenting new IMU example package
docker/docker-compose.yml	Added ipc/pid host mode, shared memory volume, and commented rmw_zenoh environment variable
docker/Dockerfile	Added rmw_zenoh repository to build dependencies

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Copilot · 2025-12-17T15:36:46Z

dynamixel_hardware_interface_example/setup.py

 setup(
    name=package_name,
-    version='0.0.3',
+    version='0.0.4',


The version in setup.py has been updated to 0.0.4, but the corresponding package.xml file still has version 0.0.3. These versions should be synchronized to avoid confusion during package distribution and dependency resolution.

Suggested change

version='0.0.4',

version='0.0.3',

Copilot · 2025-12-17T15:36:47Z

dynamixel_hardware_interface_demos/package.xml

  <buildtool_depend>ament_cmake</buildtool_depend>
  <exec_depend>dynamixel_hardware_interface_example</exec_depend>
  <exec_depend>dynamixel_hardware_interface_example_1</exec_depend>
+  <exec_depend>dynamixel_hardware_interface_example_2</exec_depend>


The package.xml version is 0.0.3, but the CHANGELOG indicates this is version 0.0.4. The package version should be updated to 0.0.4 to match the changelog entry and the new functionality being added.

Copilot · 2025-12-17T15:36:47Z

docker/docker-compose.yml

+    pid: host
    environment:
     - DISPLAY=${DISPLAY}
     - QT_X11_NO_MITSHM=1


The commented-out RMW_IMPLEMENTATION environment variable lacks documentation explaining when or why a user should uncomment it. Consider adding a comment above this line explaining the purpose and usage of rmw_zenoh.

Suggested change

- QT_X11_NO_MITSHM=1

- QT_X11_NO_MITSHM=1

# Uncomment the line below to use the Zenoh-based ROS 2 RMW implementation (rmw_zenoh_cpp)

# instead of the default middleware, if rmw_zenoh_cpp is installed in the image.

Copilot · 2025-12-17T15:36:48Z

dynamixel_hardware_interface_example_1/setup.py

 setup(
    name=package_name,
-    version='0.0.3',
+    version='0.0.4',


The version in setup.py has been updated to 0.0.4, but the corresponding package.xml file still has version 0.0.3. These versions should be synchronized to avoid confusion during package distribution and dependency resolution.

Suggested change

version='0.0.4',

version='0.0.3',

Copilot · 2025-12-17T15:36:48Z

dynamixel_hardware_interface_example_2/setup.py

+
+setup(
+    name=package_name,
+    version='0.0.3',


The version in setup.py (0.0.3) does not match the version in package.xml (0.0.4). These versions should be synchronized to avoid confusion during package distribution and dependency resolution.

Suggested change

version='0.0.3',

version='0.0.4',

…e repository and adjust rosdep commands

…ADME, Python scripts, and launch files for consistency

…ocol compatible IMU sensor

Woojin-Crive added 4 commits November 17, 2025 18:39

chore: Update docker-compose.yml to set IPC and PID modes to host and…

6b28652

… mount /dev/shm for improved resource sharing

chore: Update Dockerfile to include rmw_zenoh

e08bd91

chore: Comment out RMW implementation in docker-compose.yml for optio…

e9e6d25

…nal configuration

feat: Add dynamixel_hardware_interface_example_2 package for IMU inte…

6e96975

…gration with dynamixel_hardware_interface

Woojin-Crive requested review from GyuH13 and yun-goon December 17, 2025 15:32

Woojin-Crive self-assigned this Dec 17, 2025

Copilot AI review requested due to automatic review settings December 17, 2025 15:32

Woojin-Crive added this to Platform Dec 17, 2025

Woojin-Crive added the enhancement New feature or request label Dec 17, 2025

github-project-automation bot moved this to 🌱 Todo in Platform Dec 17, 2025

Woojin-Crive moved this from 🌱 Todo to 📝 Pull Request in Platform Dec 17, 2025

Copilot started reviewing on behalf of Woojin-Crive December 17, 2025 15:33 View session

gemini-code-assist bot reviewed Dec 17, 2025

View reviewed changes

Copilot AI reviewed Dec 17, 2025

View reviewed changes

Woojin-Crive added 3 commits December 18, 2025 00:39

chore: Update CI configuration to include dynamixel_hardware_interfac…

1c155b6

…e repository and adjust rosdep commands

fix: Update parameter naming from 'baudrate' to 'baud_rate' across RE…

a1229b7

…ADME, Python scripts, and launch files for consistency

docs: Update README to include new example package for Dynamixel Prot…

8ff7207

…ocol compatible IMU sensor

		<xacro:dynamixel_system_ros2_control name="dynamixel_system" port_name="$(arg port_name)" baud_rate="$(arg baud_rate)"/>

		<link name="$(arg prefix)base_link"/>

New pkg for IMU example, include rmw_zenoh for Dockerfile #10

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